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chore(yabloc): rework parameters (#6170)
* introduce json schema for ground_server Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for ll2_decomposer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * fix json in yabloc_common Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for graph_segment Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for segment_filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix yabloc_common schema.json Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for undistort Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * Revert "introduce json schema for ground_server" This reverts commit 33d3e60. * Revert "introduce json schema for graph_segment" This reverts commit 00ae417. Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * introduce json schema for yabloc_monitor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for yabloc_particle_filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for yabloc_pose_initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * apply pre-commit Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix revert conflict Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1 parent a49ede7 commit f0b8555

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‎localization/yabloc/yabloc_common/README.md

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@@ -63,8 +63,4 @@ This node extracts the elements related to the road surface markings and yabloc
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### Parameters
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| Name | Type | Description |
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| --------------------- | ---------------- | ---------------------------------------------------------------------- |
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| `road_marking_labels` | vector\<string\> | This label is used to extract the road surface markings from lanelet2. |
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| `sign_board_labels` | vector\<string\> | This label is used to extract the traffic sign boards from lanelet2. |
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| `bounding_box_labels` | vector\<string\> | This label is used to extract the bounding boxes from lanelet2. |
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{{ json_to_markdown("localization/yabloc/yabloc_common/schema/ll2_decomposer.schema.json") }}

‎localization/yabloc/yabloc_common/schema/ground_server.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 ground_server",
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"type": "object",
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"definitions": {
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"ground_server": {
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"type": "object",
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"properties": {
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"force_zero_tilt": {
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"type": "boolean",
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"description": "if true, the tilt is always determined to be horizontal",
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"default": false
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},
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"K": {
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"type": "number",
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"description": "the number of neighbors for ground search on a map",
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"default": 50
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},
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"R": {
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"type": "number",
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"description": "radius for ground search on a map [m]",
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"default": 10
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}
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},
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"required": ["force_zero_tilt", "K", "R"],
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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/ground_server"
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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": ["/**"],
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"additionalProperties": false
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}

‎localization/yabloc/yabloc_common/schema/ll2_decomposer.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 ll2_decomposer",
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"type": "object",
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"definitions": {
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"ll2_decomposer": {
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"type": "object",
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"properties": {
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"road_marking_labels": {
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"type": "array",
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"description": "line string types that indicating road surface markings in lanelet2",
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"default": [
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"cross_walk",
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"zebra_marking",
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"line_thin",
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"line_thick",
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"pedestrian_marking",
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"stop_line",
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"road_border"
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]
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},
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"sign_board_labels": {
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"type": "array",
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"description": "line string types that indicating traffic sign boards in lanelet2",
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"default": ["sign-board"]
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},
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"bounding_box_labels": {
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"type": "array",
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"description": "line string types that indicating not mapped areas in lanelet2",
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"default": ["none"]
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}
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},
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"required": ["road_marking_labels", "sign_board_labels", "bounding_box_labels"],
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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/ll2_decomposer"
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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": ["/**"],
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"additionalProperties": false
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}

‎localization/yabloc/yabloc_image_processing/README.md

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@@ -89,14 +89,7 @@ This is a node that integrates the results of graph_segment and lsd to extract r
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### Parameters
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| Name | Type | Description |
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| -------------------------------------- | ------ | ------------------------------------------------------------------- |
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| `min_segment_length` | double | min length threshold (if it is negative, it is unlimited) |
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| `max_segment_distance` | double | max distance threshold (if it is negative, it is unlimited) |
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| `max_lateral_distance` | double | max lateral distance threshold (if it is negative, it is unlimited) |
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| `publish_image_with_segment_for_debug` | bool | toggle whether to publish the filtered line segment for debug |
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| `max_range` | double | range of debug projection visualization |
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| `image_size` | int | image size of debug projection visualization |
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{{ json_to_markdown("localization/yabloc/yabloc_common/schema/segment_filter.schema.json") }}
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## undistort
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### Parameters
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| Name | Type | Description |
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| ------------------- | ------ | ---------------------------------------------------------------------------------------------- |
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| `use_sensor_qos` | bool | where to use sensor qos or not |
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| `width` | int | resized image width size |
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| `override_frame_id` | string | value for overriding the camera's frame_id. if blank, frame_id of static_tf is not overwritten |
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{{ json_to_markdown("localization/yabloc/yabloc_common/schema/undistort.schema.json") }}
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#### about tf_static overriding
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‎localization/yabloc/yabloc_image_processing/schema/graph_segment.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 graph_segment",
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"type": "object",
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"definitions": {
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"graph_segment": {
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"type": "object",
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"properties": {
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"target_height_ratio": {
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"type": "number",
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"description": "height on the image to retrieve the candidate road surface",
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"default": 0.85
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},
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"target_candidate_box_width": {
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"type": "number",
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"description": "size of the square area to search for candidate road surfaces",
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"default": 15
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},
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"pickup_additional_graph_segment": {
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"type": "boolean",
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"description": "if this is true, additional regions of similar color are retrieved",
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"default": true
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},
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"similarity_score_threshold": {
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"type": "number",
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"description": "threshold for picking up additional areas",
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"default": 0.8
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},
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"sigma": {
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"type": "number",
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"description": "parameter for cv::ximgproc::segmentation::GraphSegmentation",
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"default": 0.5
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},
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"k": {
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"type": "number",
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"description": "parameter for cv::ximgproc::segmentation::GraphSegmentation",
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"default": 300.0
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},
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"min_size": {
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"type": "number",
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"description": "parameter for cv::ximgproc::segmentation::GraphSegmentation",
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"default": 100.0
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}
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},
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"required": [
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"target_height_ratio",
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"target_candidate_box_width",
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"pickup_additional_graph_segment",
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"similarity_score_threshold",
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"sigma",
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"k",
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"min_size"
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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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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/graph_segment"
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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": ["/**"],
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"additionalProperties": false
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}

‎localization/yabloc/yabloc_image_processing/schema/segment_filter.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 segment_filter",
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"type": "object",
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"definitions": {
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"segment_filter": {
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"type": "object",
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"properties": {
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"min_segment_length": {
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"type": "number",
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"description": "min length threshold (if it is negative, it is unlimited)",
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"default": 1.5
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},
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"max_segment_distance": {
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"type": "number",
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"description": "max distance threshold (if it is negative, it is unlimited)",
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"default": 30.0
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},
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"max_lateral_distance": {
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"type": "number",
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"description": "max lateral distance threshold (if it is negative, it is unlimited)",
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"default": 10.0
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},
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"publish_image_with_segment_for_debug": {
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"type": "boolean",
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"description": "toggle whether to publish the filtered line segment for debug",
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"default": true
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},
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"max_range": {
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"type": "number",
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"description": "range of debug projection visualization",
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"default": 20.0
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},
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"image_size": {
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"type": "number",
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"description": "image size of debug projection visualization",
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"default": 800
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}
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},
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"required": [
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"min_segment_length",
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"max_segment_distance",
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"max_lateral_distance",
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"publish_image_with_segment_for_debug",
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"max_range",
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"image_size"
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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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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/segment_filter"
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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": ["/**"],
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"additionalProperties": false
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}

‎localization/yabloc/yabloc_image_processing/schema/undistort.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 undistort",
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"type": "object",
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"definitions": {
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"undistort": {
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"type": "object",
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"properties": {
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"use_sensor_qos": {
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"type": "boolean",
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"description": "whether to use sensor qos or not",
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"default": true
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},
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"width": {
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"type": "number",
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"description": "resized image width size",
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"default": 800
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},
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"override_frame_id": {
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"type": "string",
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"description": "value for overriding the camera's frame_id. if blank, frame_id of static_tf is not overwritten",
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"default": ""
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}
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},
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"required": ["use_sensor_qos", "width", "override_frame_id"],
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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/undistort"
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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": ["/**"],
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"additionalProperties": false
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}

‎localization/yabloc/yabloc_monitor/README.md

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| Name | Type | Description |
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| -------------- | --------------------------------- | ------------------- |
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| `/diagnostics` | `diagnostic_msgs/DiagnosticArray` | Diagnostics outputs |
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### Parameters
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{{ json_to_markdown("localization/yabloc/yabloc_monitor/schema/yabloc_monitor.schema.json") }}

‎localization/yabloc/yabloc_monitor/schema/yabloc_monitor.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for yabloc_monitor",
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"type": "object",
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"definitions": {
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"yabloc_monitor": {
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"type": "object",
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"properties": {
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"availability/timestamp_tolerance": {
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"type": "number",
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"description": "tolerable time difference between current time and latest estimated pose",
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"default": 1.0
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}
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},
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"required": ["availability/timestamp_tolerance"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/yabloc_monitor"
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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": ["/**"],
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"additionalProperties": false
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}

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