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docs(autoware_multi_object_tracker): add default values on the schema json (#8179)
* Refractored the parameters, build the schema file, updated the readme file. Signed-off-by: Boyang <tby@udel.edu> * style(pre-commit): autofix --------- Signed-off-by: Boyang <tby@udel.edu> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json

+44-6
Original file line numberDiff line numberDiff line change
@@ -11,42 +11,80 @@
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"description": "Assignment table for data association.",
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"items": {
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"type": "integer"
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}
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},
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"default": [
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1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1,
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0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0,
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0, 0, 0, 1, 1, 1
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]
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},
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"max_dist_matrix": {
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"type": "array",
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"description": "Maximum distance table for data association.",
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"items": {
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"type": "number"
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}
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},
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"default": [
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4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 4.0,
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2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 4.0, 2.0,
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5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 3.0, 1.0, 1.0,
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1.0, 1.0, 3.0, 3.0, 2.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0
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]
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},
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"max_area_matrix": {
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"type": "array",
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"description": "Maximum area table for data association.",
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"items": {
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"type": "number"
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}
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},
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"default": [
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100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 12.1, 12.1, 36.0, 60.0, 60.0,
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10000.0, 10000.0, 10000.0, 36.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0,
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60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0, 60.0, 12.1, 36.0, 60.0, 60.0,
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10000.0, 10000.0, 10000.0, 2.5, 10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.5,
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10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.0, 10000.0, 10000.0, 10000.0,
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10000.0, 1.5, 1.5, 1.0
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]
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},
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"min_area_matrix": {
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"type": "array",
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"description": "Minimum area table for data association.",
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"items": {
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"type": "number"
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}
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},
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"default": [
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.6, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 6.0,
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3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 10.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 10.0,
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3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1, 0.001,
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0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1, 0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1
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]
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},
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"max_rad_matrix": {
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"type": "array",
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"description": "Maximum angle table for data association.",
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"items": {
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"type": "number"
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}
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},
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"default": [
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3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15,
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3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047,
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1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15,
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3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15,
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3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15
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]
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},
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"min_iou_matrix": {
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"type": "array",
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"description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.",
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"items": {
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"type": "number"
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}
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},
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"default": [
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0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1,
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0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2,
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0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1,
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0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001
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]
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}
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},
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"required": [

‎perception/autoware_multi_object_tracker/schema/input_channels.schema.json

+132-12
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@@ -41,18 +41,138 @@
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"input_channels": {
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"type": "object",
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"properties": {
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"detected_objects": { "$ref": "#/definitions/input_channel" },
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"lidar_clustering": { "$ref": "#/definitions/input_channel" },
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"lidar_centerpoint": { "$ref": "#/definitions/input_channel" },
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"lidar_centerpoint_validated": { "$ref": "#/definitions/input_channel" },
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"lidar_apollo": { "$ref": "#/definitions/input_channel" },
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"lidar_apollo_validated": { "$ref": "#/definitions/input_channel" },
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"lidar_pointpainitng": { "$ref": "#/definitions/input_channel" },
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"lidar_pointpainting_validated": { "$ref": "#/definitions/input_channel" },
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"camera_lidar_fusion": { "$ref": "#/definitions/input_channel" },
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"detection_by_tracker": { "$ref": "#/definitions/input_channel" },
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"radar": { "$ref": "#/definitions/input_channel" },
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"radar_far": { "$ref": "#/definitions/input_channel" }
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"detected_objects": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "detected_objects",
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"short_name": "all"
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}
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}
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},
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"lidar_clustering": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/clustering/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "clustering",
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"short_name": "Lcl"
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}
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}
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},
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"lidar_centerpoint": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/centerpoint/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "centerpoint",
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"short_name": "Lcp"
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}
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}
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},
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"lidar_centerpoint_validated": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/centerpoint/validation/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "centerpoint",
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"short_name": "Lcp"
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}
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}
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},
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"lidar_apollo": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/apollo/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "apollo",
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"short_name": "Lap"
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}
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}
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},
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"lidar_apollo_validated": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/apollo/validation/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "apollo",
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"short_name": "Lap"
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}
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}
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},
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"lidar_pointpainitng": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/pointpainting/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "pointpainting",
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"short_name": "Lpp"
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}
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}
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},
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"lidar_pointpainting_validated": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/pointpainting/validation/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "pointpainting",
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"short_name": "Lpp"
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}
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}
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},
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"camera_lidar_fusion": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "camera_lidar_fusion",
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"short_name": "CLf"
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}
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}
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},
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"detection_by_tracker": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/detection_by_tracker/objects",
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"can_spawn_new_tracker": false,
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"optional": {
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"name": "detection_by_tracker",
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"short_name": "dbT"
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}
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}
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},
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"radar": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/sensing/radar/detected_objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "radar",
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"short_name": "R"
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}
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}
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},
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"radar_far": {
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/radar/far_objects",
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"can_spawn_new_tracker": true,
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"optional": {
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"name": "radar_far",
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"short_name": "Rf"
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}
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}
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}
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},
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"required": [
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"detected_objects",

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