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Deleted the default values in the source code, updated .param.yaml fi…
…les, created schema.json files, updated readme.
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perception/lidar_centerpoint_tvm/schema/centerpoint.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Lidar Centerpoint TVM Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "centerpoint": { | ||
| "type": "object", | ||
| "properties": { | ||
| "class_names": { | ||
| "type": "array", | ||
| "description": "List of class names for object detection.", | ||
| "items": { | ||
| "type": "string" | ||
| }, | ||
| "default": ["CAR", "PEDESTRIAN", "BICYCLE"] | ||
| }, | ||
| "rename_car_to_truck_and_bus": { | ||
| "type": "boolean", | ||
| "description": "Flag to rename car detections to truck and bus.", | ||
| "default": true | ||
| }, | ||
| "point_feature_size": { | ||
| "type": "integer", | ||
| "description": "The size of the point features.", | ||
| "default": 4 | ||
| }, | ||
| "max_voxel_size": { | ||
| "type": "integer", | ||
| "description": "The maximum number of voxels.", | ||
| "default": 40000 | ||
| }, | ||
| "point_cloud_range": { | ||
| "type": "array", | ||
| "description": "The range of the point cloud.", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0] | ||
| }, | ||
| "voxel_size": { | ||
| "type": "array", | ||
| "description": "The size of the voxels.", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [0.32, 0.32, 8.0] | ||
| }, | ||
| "downsample_factor": { | ||
| "type": "integer", | ||
| "description": "The factor by which to downsample the point cloud.", | ||
| "default": 1 | ||
| }, | ||
| "encoder_in_feature_size": { | ||
| "type": "integer", | ||
| "description": "The size of the input features for the encoder.", | ||
| "default": 9 | ||
| }, | ||
| "has_twist": { | ||
| "type": "boolean", | ||
| "description": "Flag to indicate if the twist (velocity) is included.", | ||
| "default": false | ||
| }, | ||
| "post_process_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "circle_nms_dist_threshold": { | ||
| "type": "number", | ||
| "description": "The distance threshold for circle NMS.", | ||
| "default": 1.5 | ||
| }, | ||
| "score_threshold": { | ||
| "type": "number", | ||
| "description": "Detected objects with score less than threshold are ignored.", | ||
| "default": 0.35 | ||
| }, | ||
| "yaw_norm_threshold": { | ||
| "type": "number", | ||
| "description": "The threshold for yaw normalization.", | ||
| "default": 0.0 | ||
| } | ||
| }, | ||
| "required": ["circle_nms_dist_threshold", "score_threshold", "yaw_norm_threshold"] | ||
| }, | ||
| "densification_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "world_frame_id": { | ||
| "type": "string", | ||
| "description": "The world frame id to fuse multi-frame pointcloud.", | ||
| "default": "map" | ||
| }, | ||
| "num_past_frames": { | ||
| "type": "integer", | ||
| "description": "The number of past frames to fuse with the current frame.", | ||
| "default": 1 | ||
| } | ||
| }, | ||
| "required": ["world_frame_id", "num_past_frames"] | ||
| } | ||
| }, | ||
| "required": [ | ||
| "class_names", | ||
| "rename_car_to_truck_and_bus", | ||
| "point_feature_size", | ||
| "max_voxel_size", | ||
| "point_cloud_range", | ||
| "voxel_size", | ||
| "downsample_factor", | ||
| "encoder_in_feature_size", | ||
| "has_twist", | ||
| "post_process_params", | ||
| "densification_params" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/centerpoint" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } | ||
|
|
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