traffic_light_classifier.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for traffic_light_classifier",
  "type": "object",
  "definitions": {
    "traffic_light_classifier": {
      "type": "object",
      "properties": {
        "classifier_label_path": {
          "type": "string",
          "default": "labels.txt",
          "description": "path to the model file."
        },
        "classifier_model_path": {
          "type": "string",
          "default": "model.onnx",
          "description": "path to the label file."
        },
        "classifier_precision": {
          "type": "string",
          "default": "fp16",
          "description": "TensorRT precision, `fp16` or `int8."
        },
        "classifier_mean": {
          "type": "number",
          "default": 123.675,
          "description": "3-channel input image mean."
        },
        "classifier_std": {
          "type": "number",
          "default": 58.395,
          "description": "3-channel input image std."
        },
        "apply_softmax": {
          "type": "boolean",
          "description": "whether or not apply softmax."
        },
        "green_min_h": {
          "type": "number",
          "default": 10,
          "description": "the minimum hue of green color."
        },
        "green_min_s": {
          "type": "number",
          "default": 100,
          "description": "the minimum saturation of green color."
        },
        "green_min_v": {
          "type": "number",
          "default": 150,
          "description": "the minimum value (brightness) of green color."
        },
        "green_max_h": {
          "type": "number",
          "default": 120,
          "description": "the maximum hue of green color."
        },
        "green_max_s": {
          "type": "number",
          "default": 200,
          "description": "the maximum saturation of green color."
        },
        "green_max_v": {
          "type": "number",
          "default": 255,
          "description": "the maximum value (brightness) of green color."
        },
        "yellow_min_h": {
          "type": "number",
          "default": 0,
          "description": "the minimum hue of yellow color."
        },
        "yellow_min_s": {
          "type": "number",
          "default": 80,
          "description": "the minimum saturation of yellow color."
        },
        "yellow_min_v": {
          "type": "number",
          "default": 150,
          "description": "the minimum value (brightness) of yellow color."
        },
        "yellow_max_h": {
          "type": "number",
          "default": 50,
          "description": "the maximum hue of yellow color."
        },
        "yellow_max_s": {
          "type": "number",
          "default": 200,
          "description": "the maximum saturation of yellow color."
        },
        "yellow_max_v": {
          "type": "number",
          "default": 255,
          "description": "the maximum value (brightness) of yellow color."
        },
        "red_min_h": {
          "type": "number",
          "default": 160,
          "description": "the minimum hue of red color."
        },
        "red_min_s": {
          "type": "number",
          "default": 100,
          "description": "the minimum saturation of red color."
        },
        "red_min_v": {
          "type": "number",
          "default": 150,
          "description": "the minimum value (brightness) of red color."
        },
        "red_max_h": {
          "type": "number",
          "default": 180,
          "description": "the maximum hue of red color."
        },
        "red_max_s": {
          "type": "number",
          "default": 255,
          "description": "the maximum saturation of red color."
        },
        "red_max_v": {
          "type": "number",
          "default": 255,
          "description": "the maximum value (brightness) of red color."
        }
      },
      "required": [
        "warn_rate",
        "window_size",
        "timeout",
        "error_rate",
        "update_rate",
        "topic",
        "transient_local",
        "best_effort",
        "diag_name"
      ]
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/traffic_light_classifier"
        }
      },
      "required": ["ros__parameters"]
    }
  },
  "required": ["/**"]
}