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feat(autoware_elevation_map_loader): Created Schema file and updated …
…ReadME file for parameters setting Signed-off-by: vish0012 <[email protected]>
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perception/autoware_elevation_map_loader/schema/elevation_map_parameters.schema.json
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|---|---|---|
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "autoware_elevation_map_loader Parameters", | ||
| "type": "object", | ||
| "definitions": { | ||
| "elevation_map_parameter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "num_processing_threads": { | ||
| "type": "integer", | ||
| "description": "Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized.", | ||
| "default": 12 | ||
| }, | ||
| "cloud_transform": { | ||
| "type": "object", | ||
| "description": "Rigid body transform applied to the point cloud before computing elevation.", | ||
| "properties": { | ||
| "translation": { | ||
| "type": "object", | ||
| "description": "Translation (xyz) applied to the input point cloud before computing elevation.", | ||
| "properties": { | ||
| "x": { "type": "number", "default": 0.0 }, | ||
| "y": { "type": "number", "default": 0.0 }, | ||
| "z": { "type": "number", "default": 0.0 } | ||
| }, | ||
| "required": ["x", "y", "z"], | ||
| "additionalProperties": false | ||
| }, | ||
| "rotation": { | ||
| "type": "object", | ||
| "description": "Intrinsic rotation (X-Y-Z, r-p-y) applied to the input point cloud before computing elevation.", | ||
| "properties": { | ||
| "r": { "type": "number", "default": 0.0 }, | ||
| "p": { "type": "number", "default": 0.0 }, | ||
| "y": { "type": "number", "default": 0.0 } | ||
| }, | ||
| "required": ["r", "p", "y"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["translation", "rotation"], | ||
| "additionalProperties": false | ||
| }, | ||
| "cluster_extraction": { | ||
| "type": "object", | ||
| "description": "Cluster extraction parameters based on PCL algorithms.", | ||
| "properties": { | ||
| "cluster_tolerance": { | ||
| "type": "number", | ||
| "description": "Distance between points below which they will still be considered part of one cluster.", | ||
| "default": 0.2 | ||
| }, | ||
| "min_num_points": { | ||
| "type": "integer", | ||
| "description": "Minimum number of points that a cluster needs to have, otherwise it will be discarded.", | ||
| "default": 3 | ||
| }, | ||
| "max_num_points": { | ||
| "type": "integer", | ||
| "description": "Maximum number of points that a cluster can have, otherwise it will be discarded.", | ||
| "default": 1000000 | ||
| } | ||
| }, | ||
| "required": ["cluster_tolerance", "min_num_points", "max_num_points"], | ||
| "additionalProperties": false | ||
| }, | ||
| "outlier_removal": { | ||
| "type": "object", | ||
| "description": "Parameters for statistical outlier removal.", | ||
| "properties": { | ||
| "is_remove_outliers": { | ||
| "type": "boolean", | ||
| "description": "Whether to perform statistical outlier removal.", | ||
| "default": false | ||
| }, | ||
| "mean_K": { | ||
| "type": "integer", | ||
| "description": "Number of neighbors to analyze for estimating statistics of a point.", | ||
| "default": 10 | ||
| }, | ||
| "stddev_threshold": { | ||
| "type": "number", | ||
| "description": "Number of standard deviations under which points are considered to be inliers.", | ||
| "default": 1.0 | ||
| } | ||
| }, | ||
| "required": ["is_remove_outliers", "mean_K", "stddev_threshold"], | ||
| "additionalProperties": false | ||
| }, | ||
| "downsampling": { | ||
| "type": "object", | ||
| "description": "Point cloud downsampling parameters.", | ||
| "properties": { | ||
| "is_downsample_cloud": { | ||
| "type": "boolean", | ||
| "description": "Whether to perform downsampling or not.", | ||
| "default": false | ||
| }, | ||
| "voxel_size": { | ||
| "type": "object", | ||
| "description": "Voxel sizes (xyz) in meters.", | ||
| "properties": { | ||
| "x": { "type": "number", "default": 0.02 }, | ||
| "y": { "type": "number", "default": 0.02 }, | ||
| "z": { "type": "number", "default": 0.02 } | ||
| }, | ||
| "required": ["x", "y", "z"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["is_downsample_cloud", "voxel_size"], | ||
| "additionalProperties": false | ||
| }, | ||
| "grid_map": { | ||
| "type": "object", | ||
| "description": "Grid map parameters based on grid_map_pcl package.", | ||
| "properties": { | ||
| "min_num_points_per_cell": { | ||
| "type": "integer", | ||
| "description": "Minimum number of points in the point cloud that must fall within any grid map cell. Otherwise, the cell elevation will be set to NaN.", | ||
| "default": 3 | ||
| }, | ||
| "resolution": { | ||
| "type": "number", | ||
| "description": "Resolution of the grid map. Width and length are computed automatically.", | ||
| "default": 0.3 | ||
| }, | ||
| "height_type": { | ||
| "type": "integer", | ||
| "description": "Determines the elevation of a cell (0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points).", | ||
| "default": 1 | ||
| }, | ||
| "height_thresh": { | ||
| "type": "number", | ||
| "description": "Height range from the smallest cluster (Only for height_type = 1).", | ||
| "default": 1.0 | ||
| } | ||
| }, | ||
| "required": ["min_num_points_per_cell", "resolution", "height_type", "height_thresh"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": [ | ||
| "num_processing_threads", | ||
| "cloud_transform", | ||
| "cluster_extraction", | ||
| "outlier_removal", | ||
| "downsampling", | ||
| "grid_map" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/elevation_map_parameter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
|
|
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