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Refractored the parameters, build the schema file, updated the readme…
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… file.

Signed-off-by: Boyang <tby@udel.edu>
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@tby-udel @technolojin
tby-udel authored and technolojin committed Aug 7, 2024
1 parent e541300 commit d17104b
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64 changes: 58 additions & 6 deletions perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json
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Original file line number Diff line number Diff line change
Expand Up @@ -11,42 +11,94 @@
"description": "Assignment table for data association.",
"items": {
"type": "integer"
}
},
"default": [
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, 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, 0, 0, 0, 1, 1, 1
]
},
"max_dist_matrix": {
"type": "array",
"description": "Maximum distance table for data association.",
"items": {
"type": "number"
}
},
"default": [
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, 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, 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, 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
]
},
"max_area_matrix": {
"type": "array",
"description": "Maximum area table for data association.",
"items": {
"type": "number"
}
},
"default": [
100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00,
12.10, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00,
36.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00,
60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00,
60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00,
2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00,
2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00,
2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00
]
},
"min_area_matrix": {
"type": "array",
"description": "Minimum area table for data association.",
"items": {
"type": "number"
}
},
"default": [
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000,
3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000,
6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000,
10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000,
10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000,
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100,
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100,
0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100
]
},
"max_rad_matrix": {
"type": "array",
"description": "Maximum angle table for data association.",
"items": {
"type": "number"
}
},
"default": [
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150,
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150,
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150,
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150,
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150,
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150,
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150,
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150
]
},
"min_iou_matrix": {
"type": "array",
"description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.",
"items": {
"type": "number"
}
},
"default": [
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, 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, 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, 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
]
}
},
"required": [
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144 changes: 132 additions & 12 deletions perception/autoware_multi_object_tracker/schema/input_channels.schema.json
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Expand Up @@ -41,18 +41,138 @@
"input_channels": {
"type": "object",
"properties": {
"detected_objects": { "$ref": "#/definitions/input_channel" },
"lidar_clustering": { "$ref": "#/definitions/input_channel" },
"lidar_centerpoint": { "$ref": "#/definitions/input_channel" },
"lidar_centerpoint_validated": { "$ref": "#/definitions/input_channel" },
"lidar_apollo": { "$ref": "#/definitions/input_channel" },
"lidar_apollo_validated": { "$ref": "#/definitions/input_channel" },
"lidar_pointpainitng": { "$ref": "#/definitions/input_channel" },
"lidar_pointpainting_validated": { "$ref": "#/definitions/input_channel" },
"camera_lidar_fusion": { "$ref": "#/definitions/input_channel" },
"detection_by_tracker": { "$ref": "#/definitions/input_channel" },
"radar": { "$ref": "#/definitions/input_channel" },
"radar_far": { "$ref": "#/definitions/input_channel" }
"detected_objects": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "detected_objects",
"short_name": "all"
}
}
},
"lidar_clustering": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/clustering/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "clustering",
"short_name": "Lcl"
}
}
},
"lidar_centerpoint": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/centerpoint/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "centerpoint",
"short_name": "Lcp"
}
}
},
"lidar_centerpoint_validated": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/centerpoint/validation/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "centerpoint",
"short_name": "Lcp"
}
}
},
"lidar_apollo": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/apollo/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "apollo",
"short_name": "Lap"
}
}
},
"lidar_apollo_validated": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/apollo/validation/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "apollo",
"short_name": "Lap"
}
}
},
"lidar_pointpainitng": {

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"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/pointpainting/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "pointpainting",
"short_name": "Lpp"
}
}
},
"lidar_pointpainting_validated": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/pointpainting/validation/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "pointpainting",
"short_name": "Lpp"
}
}
},
"camera_lidar_fusion": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "camera_lidar_fusion",
"short_name": "CLf"
}
}
},
"detection_by_tracker": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/detection_by_tracker/objects",
"can_spawn_new_tracker": false,
"optional": {
"name": "detection_by_tracker",
"short_name": "dbT"
}
}
},
"radar": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/sensing/radar/detected_objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "radar",
"short_name": "R"
}
}
},
"radar_far": {
"$ref": "#/definitions/input_channel",
"default": {
"topic": "/perception/object_recognition/detection/radar/far_objects",
"can_spawn_new_tracker": true,
"optional": {
"name": "radar_far",
"short_name": "Rf"
}
}
}
},
"required": [
"detected_objects",
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