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refactor(object_merger): rework parameters (#7337)
* Deleted the default values in the source code, updated .param.yaml files, created schema.json files, updated readme. 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/object_merger/README.md

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@@ -25,16 +25,9 @@ The successive shortest path algorithm is used to solve the data association pro
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## Parameters
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| Name | Type | Description |
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| --------------------------- | --------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| `can_assign_matrix` | double | Assignment table for data association |
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| `max_dist_matrix` | double | Maximum distance table for data association |
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| `max_area_matrix` | double | Maximum area table for data association |
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| `min_area_matrix` | double | Minimum area table for data association |
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| `max_rad_matrix` | double | Maximum angle table for data association |
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| `base_link_frame_id` | double | association frame |
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| `distance_threshold_list` | `std::vector<double>` | Distance threshold for each class used in judging overlap. The class order depends on [ObjectClassification](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/ObjectClassification.msg). |
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| `generalized_iou_threshold` | `std::vector<double>` | Generalized IoU threshold for each class |
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{{ json_to_markdown("perception/object_merger/schema/object_association_merger.schema.json") }}
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{{ json_to_markdown("perception/object_merger/schema/data_association_matrix.schema.json") }}
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{{ json_to_markdown("perception/object_merger/schema/overlapped_judge.schema.json") }}
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## Tips
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‎perception/object_merger/config/object_association_merger.param.yaml

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@@ -2,4 +2,7 @@
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ros__parameters:
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sync_queue_size: 20
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precision_threshold_to_judge_overlapped: 0.4
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recall_threshold_to_judge_overlapped: 0.5
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remove_overlapped_unknown_objects: true
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base_link_frame_id: base_link
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priority_mode: 3 # PriorityMode::Confidence

‎perception/object_merger/schema/data_association_matrix.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Data Association Matrix Parameters",
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"type": "object",
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"properties": {
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"ros__parameters": {
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"type": "object",
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"properties": {
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"can_assign_matrix": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Assignment table for data association"
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},
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"max_dist_matrix": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Maximum distance table for data association"
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},
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"max_rad_matrix": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
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},
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"min_iou_matrix": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
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}
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},
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"required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"]
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}
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}
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}

‎perception/object_merger/schema/object_association_merger.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Object Association Merger Node",
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"type": "object",
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"definitions": {
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"object_association_merger": {
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"type": "object",
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"properties": {
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"sync_queue_size": {
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"type": "integer",
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"description": "The size of the synchronization queue.",
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"default": 20
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},
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"precision_threshold_to_judge_overlapped": {
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"type": "number",
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"description": "The precision threshold to judge if objects are overlapped.",
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"default": 0.4
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},
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"recall_threshold_to_judge_overlapped": {
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"type": "number",
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"description": "The recall threshold to judge if objects are overlapped.",
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"default": 0.5
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},
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"remove_overlapped_unknown_objects": {
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"type": "boolean",
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"description": "Flag to remove overlapped unknown objects.",
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"default": true
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},
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"base_link_frame_id": {
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"type": "string",
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"description": "The frame ID of the association frame.",
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"default": "base_link"
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},
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"priority_mode": {
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"type": "integer",
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"description": "Index for the priority_mode.",
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"default": 3,
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"enum": [0, 1, 2, 3]
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}
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},
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"required": [
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"sync_queue_size",
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"precision_threshold_to_judge_overlapped",
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"recall_threshold_to_judge_overlapped",
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"remove_overlapped_unknown_objects",
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"base_link_frame_id",
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"priority_mode"
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]
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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/object_association_merger"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/object_merger/schema/overlapped_judge.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Overlapped Judge Parameters",
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"type": "object",
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"properties": {
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"ros__parameters": {
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"type": "object",
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"properties": {
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"distance_threshold_list": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Distance threshold for each class used in judging overlap."
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},
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"generalized_iou_threshold": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"description": "Generalized IoU threshold for each class."
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}
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},
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"required": ["distance_threshold_list", "generalized_iou_threshold"]
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}
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}
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}

‎perception/object_merger/src/object_association_merger/node.cpp

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@@ -80,16 +80,14 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
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object1_sub_(this, "input/object1", rclcpp::QoS{1}.get_rmw_qos_profile())
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{
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// Parameters
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base_link_frame_id_ = declare_parameter<std::string>("base_link_frame_id", "base_link");
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priority_mode_ = static_cast<PriorityMode>(
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declare_parameter<int>("priority_mode", static_cast<int>(PriorityMode::Confidence)));
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sync_queue_size_ = declare_parameter<int>("sync_queue_size", 20);
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remove_overlapped_unknown_objects_ =
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declare_parameter<bool>("remove_overlapped_unknown_objects", true);
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base_link_frame_id_ = declare_parameter<std::string>("base_link_frame_id");
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priority_mode_ = static_cast<PriorityMode>(declare_parameter<int>("priority_mode"));
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sync_queue_size_ = declare_parameter<int>("sync_queue_size");
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remove_overlapped_unknown_objects_ = declare_parameter<bool>("remove_overlapped_unknown_objects");
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overlapped_judge_param_.precision_threshold =
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declare_parameter<double>("precision_threshold_to_judge_overlapped");
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overlapped_judge_param_.recall_threshold =
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declare_parameter<double>("recall_threshold_to_judge_overlapped", 0.5);
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declare_parameter<double>("recall_threshold_to_judge_overlapped");
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overlapped_judge_param_.generalized_iou_threshold =
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convertListToClassMap(declare_parameter<std::vector<double>>("generalized_iou_threshold"));
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