feat(autoware_bytetrack): Created Schema file and updated ReadME file…

… for parameters setting Signed-off-by: vish0012 <[email protected]>
autowarefoundation · Feb 5, 2025 · 4d8d61a · 4d8d61a
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diff --git a/perception/autoware_bytetrack/README.md b/perception/autoware_bytetrack/README.md
@@ -64,18 +64,9 @@ Kalman filter settings can be controlled by the parameters in `config/bytetrack_
 | `out/image` | `sensor_msgs/Image` | The image that detection bounding boxes and their UUIDs are drawn |
 
 ## Parameters
-
-### bytetrack_node
-
-| Name                  | Type | Default Value | Description                                              |
-| --------------------- | ---- | ------------- | -------------------------------------------------------- |
-| `track_buffer_length` | int  | 30            | The frame count that a tracklet is considered to be lost |
-
-### bytetrack_visualizer
-
-| Name      | Type | Default Value | Description                                                                                   |
-| --------- | ---- | ------------- | --------------------------------------------------------------------------------------------- |
-| `use_raw` | bool | false         | The flag for the node to switch `sensor_msgs/Image` or `sensor_msgs/CompressedImage` as input |
+{{ json_to_markdown("perception/autoware_bytetrack/schema/bytetrack_visualizer.schema.json") }}
+{{ json_to_markdown("perception/autoware_bytetrack/schema/bytetrack.schema.json") }}
+{{ json_to_markdown("perception/autoware_bytetrack/schema/kalman_filter.schema.json") }}
 
 ## Assumptions/Known limits
 

diff --git a/perception/autoware_bytetrack/schema/bytetrack.schema.json b/perception/autoware_bytetrack/schema/bytetrack.schema.json
@@ -0,0 +1,34 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "autoware_bytetrack parameter",
+    "type": "object",
+    "definitions": {
+      "bytetrack": {
+        "type": "object",
+        "properties": {
+          "track_buffer_length": {
+            "type": "integer",
+            "description": "The frame count that a tracklet is considered to be lost.",
+            "default": 30
+          }
+        },
+        "required": ["track_buffer_length"],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/bytetrack"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+  }
+
diff --git a/perception/autoware_bytetrack/schema/bytetrack_visualizer.schema.json b/perception/autoware_bytetrack/schema/bytetrack_visualizer.schema.json
@@ -0,0 +1,34 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "autoware_bytetrack parameter",
+    "type": "object",
+    "definitions": {
+      "bytetrack_visualizer": {
+        "type": "object",
+        "properties": {
+          "use_raw": {
+            "type": "boolean",
+            "description": "The flag for the node to switch between `sensor_msgs/Image` or `sensor_msgs/CompressedImage` as input.",
+            "default": false
+          }
+        },
+        "required": ["use_raw"],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/bytetrack_visualizer"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+  }
+
diff --git a/perception/autoware_bytetrack/schema/kalman_filter.schema.json b/perception/autoware_bytetrack/schema/kalman_filter.schema.json
@@ -0,0 +1,99 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "autoware_bytetrack parameter",
+    "type": "object",
+    "definitions": {
+      "kalman_filter": {
+        "type": "object",
+        "properties": {
+          "dt": {
+            "type": "number",
+            "description": "Time step [s].",
+            "default": 0.1
+          },
+          "dim_x": {
+            "type": "integer",
+            "description": "State dimension (tlbr + velocity).",
+            "default": 8
+          },
+          "dim_z": {
+            "type": "integer",
+            "description": "Measurement dimension (tlbr).",
+            "default": 4
+          },
+          "q_cov_x": {
+            "type": "number",
+            "description": "Process noise covariance for x.",
+            "default": 0.1
+          },
+          "q_cov_y": {
+            "type": "number",
+            "description": "Process noise covariance for y.",
+            "default": 0.1
+          },
+          "q_cov_vx": {
+            "type": "number",
+            "description": "Process noise covariance for velocity x.",
+            "default": 0.1
+          },
+          "q_cov_vy": {
+            "type": "number",
+            "description": "Process noise covariance for velocity y.",
+            "default": 0.1
+          },
+          "r_cov_x": {
+            "type": "number",
+            "description": "Measurement noise covariance for x.",
+            "default": 0.1
+          },
+          "r_cov_y": {
+            "type": "number",
+            "description": "Measurement noise covariance for y.",
+            "default": 0.1
+          },
+          "p0_cov_x": {
+            "type": "number",
+            "description": "Initial covariance for x.",
+            "default": 100.0
+          },
+          "p0_cov_y": {
+            "type": "number",
+            "description": "Initial covariance for y.",
+            "default": 100.0
+          },
+          "p0_cov_vx": {
+            "type": "number",
+            "description": "Initial covariance for velocity x.",
+            "default": 100.0
+          },
+          "p0_cov_vy": {
+            "type": "number",
+            "description": "Initial covariance for velocity y.",
+            "default": 100.0
+          }
+        },
+        "required": [
+          "dt", "dim_x", "dim_z",
+          "q_cov_x", "q_cov_y", "q_cov_vx", "q_cov_vy",
+          "r_cov_x", "r_cov_y",
+          "p0_cov_x", "p0_cov_y", "p0_cov_vx", "p0_cov_vy"
+        ],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/kalman_filter"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+  }
+
diff --git a/perception/autoware_bytetrack/src/bytetrack_node.cpp b/perception/autoware_bytetrack/src/bytetrack_node.cpp
@@ -33,7 +33,7 @@ ByteTrackNode::ByteTrackNode(const rclcpp::NodeOptions & node_options)
   using std::placeholders::_1;
   using std::chrono_literals::operator""ms;
 
-  int track_buffer_length = declare_parameter("track_buffer_length", 30);
+  int track_buffer_length = declare_parameter("track_buffer_length");
 
   this->bytetrack_ = std::make_unique<autoware::bytetrack::ByteTrack>(track_buffer_length);