lidar_apollo_instance_segmentation.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for lidar_apollo_instance_segmentation",
  "type": "object",
  "definitions": {
    "lidar_apollo_instance_segmentation": {
      "type": "object",
      "properties": {
        "score_threshold": {
          "type": "number",
          "default": 0.8,
          "description": "If the score of a detected object is lower than this value, the object is ignored."
        },
        "range": {
          "type": "number",
          "default": 60,
          "description": "Half of the length of feature map sides.[m]."
        },
        "width": {
          "type": "number",
          "default": 640,
          "description": "The grid width of feature map."
        },
        "height": {
          "type": "number",
          "default": 640,
          "description": "The grid height of feature map."
        },
        "precision": {
          "type": "string",
          "default": "fp32"
        },
        "use_intensity_feature": {
          "type": "boolean",
          "default": "true",
          "description": "The flag to use intensity feature of pointcloud."
        },
        "use_constant_feature": {
          "type": "boolean",
          "default": "false",
          "description": "The flag to use direction and distance feature of pointcloud."
        },
        "target_frame": {
          "type": "string",
          "default": "base_link",
          "description": "Pointcloud data is transformed into this frame."
        },
        "z_offset": {
          "type": "number",
          "default": -2.0,
          "description": "z offset from target frame. [m]."
        }
      },
      "required": [
        "score_threshold",
        "range",
        "width",
        "height",
        "precision",
        "use_intensity_feature",
        "use_constant_feature",
        "target_frame",
        "z_offset"
      ]
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/lidar_apollo_instance_segmentation"
        }
      },
      "required": ["ros__parameters"]
    }
  },
  "required": ["/**"]
}