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Added schema updates as per comments for pointcloud preprocessor
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3 files changed

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‎sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json

+39-38
Original file line numberDiff line numberDiff line change
@@ -1,94 +1,94 @@
11
{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "autoware_pointcloud_preprocessor parameters",
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"title": "Parameters for Blockage Diag Node",
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"type": "object",
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"definitions": {
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"blockage_diag_node": {
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"blockage_diag": {
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"type": "object",
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"properties": {
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"blockage_ratio_threshold": {
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"type": "number",
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"description": "The threshold of blockage area ratio. If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR.",
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"default": 0.1,
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"minimum": "0"
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"default": "0.1",
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"minimum": 0
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},
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"blockage_count_threshold": {
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"type": "integer",
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"type": "number",
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"description": "The threshold of number continuous blockage frames",
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"default": 50,
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"minimum": "0"
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"default": "50",
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"minimum": 0
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},
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"blockage_buffering_frames": {
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"type": "integer",
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"description": "The number of buffering about blockage detection [range:1-200]",
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"default": 2,
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"default": "2",
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"minimum": 1,
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"maximum": 200
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},
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"blockage_buffering_interval": {
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"type": "integer",
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"description": "The interval of buffering about blockage detection",
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"default": 1,
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"minimum": "0"
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"default": "1",
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"minimum": 0
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},
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"enable_dust_diag": {
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"type": "boolean",
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"description": "Enable dust diagnostic",
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"default": "false"
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"description": "enable dust diagnostic",
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"default": false
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},
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"publish_debug_image": {
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"type": "boolean",
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"description": "Publish debug image",
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"default": "false"
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"description": "publish debug image",
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"default": false
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},
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"dust_ratio_threshold": {
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"type": "number",
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"description": "The threshold of dusty area ratio",
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"default": 0.2,
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"minimum": "0"
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"default": "0.2",
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"minimum": 0
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},
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"dust_count_threshold": {
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"type": "integer",
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"description": "The threshold of number continuous frames include dusty area",
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"default": 10,
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"minimum": "0"
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"default": "10",
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"minimum": 0
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},
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"dust_kernel_size": {
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"type": "integer",
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"description": "The kernel size of morphology processing in dusty area detection",
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"default": 2,
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"minimum": "0"
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"default": "2",
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"minimum": 0
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},
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"dust_buffering_frames": {
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"type": "integer",
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"description": "The number of buffering about dusty area detection [range:1-200]",
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"default": 10,
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"default": "10",
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"minimum": 1,
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"maximum": 200
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},
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"dust_buffering_interval": {
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"type": "integer",
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"description": "The interval of buffering about dusty area detection",
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"default": 1,
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"minimum": "0"
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"default": "1",
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"minimum": 0
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},
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"max_distance_range": {
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"type": "number",
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"description": "Maximum view range for the LiDAR",
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"default": 200.0,
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"minimum": "0"
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"default": "200.0",
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"minimum": 0
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},
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"horizontal_resolution": {
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"type": "number",
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"description": "The horizontal resolution of depth map image [deg/pixel]",
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"default": 0.4,
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"minimum": "0"
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"default": "0.4",
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"minimum": 0
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},
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"blockage_kernel": {
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"type": "integer",
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"description": "The kernel size of morphology processing the detected blockage area",
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"default": 10,
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"minimum": "0"
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"default": "10",
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"minimum": 0
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},
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"angle_range": {
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"type": "array",
@@ -105,8 +105,8 @@
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"vertical_bins": {
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"type": "integer",
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"description": "The LiDAR channel",
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"default": 40,
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"minimum": "0"
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"default": "40",
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"minimum": 0
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},
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"is_channel_order_top2down": {
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"type": "boolean",
@@ -116,8 +116,8 @@
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"horizontal_ring_id": {
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"type": "integer",
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"description": "The id of horizontal ring of the LiDAR",
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"default": 18,
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"minimum": "0"
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"default": "18",
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"minimum": 0
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}
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},
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"required": [
@@ -140,21 +140,22 @@
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"is_channel_order_top2down",
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"horizontal_ring_id"
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],
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"additionalProperties": "false"
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/blockage_diag_node"
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"$ref": "#/definitions/blockage_diag"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": "false"
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": "false"
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}
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"additionalProperties": false
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}
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‎sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json

+19-11
Original file line numberDiff line numberDiff line change
@@ -1,36 +1,36 @@
11
{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "autoware_pointcloud_preprocessor parameters",
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"title": "Parameters for Passthrough Filter UInt16 Node",
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"type": "object",
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"definitions": {
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"passthrough_filter_uint16_node": {
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"passthrough_filter_uint16": {
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"type": "object",
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"properties": {
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"filter_limit_min": {
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"type": "integer",
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"description": "Minimum allowed field value.",
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"description": "minimum allowed field value",
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"default": 0,
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"minimum": 0
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},
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"filter_limit_max": {
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"type": "integer",
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"description": "Maximum allowed field value.",
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"description": "maximum allowed field value",
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"default": 127,
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"minimum": 0
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},
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"filter_field_name": {
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"type": "string",
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"description": "Filtering field name.",
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"description": "filtering field name",
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"default": "channel"
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},
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"keep_organized": {
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"type": "boolean",
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"description": "Flag to keep the indices structure intact after filtering.",
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"description": "flag to keep indices structure",
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"default": false
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},
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"filter_limit_negative": {
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"type": "boolean",
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"description": "Flag to determine whether to filter inside or outside the given limits.",
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"description": "flag to return whether the data is inside limit or not",
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"default": false
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}
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},
@@ -45,10 +45,18 @@
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}
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},
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/passthrough_filter_uint16_node"
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/passthrough_filter_uint16"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["ros__parameters"],
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"required": ["/**"],
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"additionalProperties": false
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}
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}
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‎sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json

+29-13
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@@ -1,39 +1,55 @@
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{
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"$schema": "http://json-schema.org/draft-07/schema#",
3-
"title": "autoware_pointcloud_preprocessor parameters",
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"title": "Parameters for Pickup Based Voxel Grid Downsample Filter Node",
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"type": "object",
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"definitions": {
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"pickup_based_voxel_grid_downsample_filter_node": {
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"pickup_based_voxel_grid_downsample_filter": {
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"type": "object",
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"properties": {
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"voxel_size_x": {
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"type": "number",
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"description": "Voxel size along the x-axis [m].",
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"description": "voxel size along the x-axis [m]",
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"default": 1.0,
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"minimum": 0.0
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"exclusiveMinimum": 0.0
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},
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"voxel_size_y": {
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"type": "number",
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"description": "Voxel size along the y-axis [m].",
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"description": "voxel size along the y-axis [m]",
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"default": 1.0,
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"minimum": 0.0
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"exclusiveMinimum": 0.0
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},
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"voxel_size_z": {
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"type": "number",
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"description": "Voxel size along the z-axis [m].",
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"description": "voxel size along the z-axis [m]",
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"default": 1.0,
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"minimum": 0.0
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"exclusiveMinimum": 0.0
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}
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},
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"required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"],
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"required": [
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"voxel_size_x",
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"voxel_size_y",
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"voxel_size_z"
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],
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"additionalProperties": false
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}
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},
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/pickup_based_voxel_grid_downsample_filter_node"
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"/**": {
38+
"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/pickup_based_voxel_grid_downsample_filter"
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}
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},
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"required": [
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"ros__parameters"
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],
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"additionalProperties": false
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}
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},
37-
"required": ["ros__parameters"],
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"required": [
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"/**"
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],
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"additionalProperties": false
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}
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}
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