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feat(autoware_radar_object_tracker): Add schema files and update readme file for autoware_radar_object_tracker #10038

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feat(autoware_radar_object_tracker): Add schema files and update readme file for autoware_radar_object_tracker #10038

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cda3e16
Add schema files and update readme file for autoware_radar_object_tr…
vish0012 Jan 29, 2025
ef6e1d5
style(pre-commit): autofix
pre-commit-ci[bot] Jan 29, 2025
8becee1
Updated README and applied necessary changes
vish0012 Mar 18, 2025
ae7e0b3
fix: updated schema file
vish0012 Mar 18, 2025
2ebd95d
fix: updated readme file
vish0012 Mar 18, 2025
48b4af1
style(pre-commit): autofix
pre-commit-ci[bot] Mar 18, 2025
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35 changes: 4 additions & 31 deletions perception/autoware_radar_object_tracker/README.md
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Expand Up @@ -39,40 +39,13 @@ See more details in the [models.md](models.md).

## Parameters

### Node Parameters

| Name | Type | Default Value | Description |
| ------------------------------------ | ------ | --------------------------- | --------------------------------------------------------------------------------------------------------------- |
| `publish_rate` | double | 10.0 | The rate at which to publish the output messages |
| `world_frame_id` | string | "map" | The frame ID of the world coordinate system |
| `enable_delay_compensation` | bool | false | Whether to enable delay compensation. If set to `true`, output topic is published by timer with `publish_rate`. |
| `tracking_config_directory` | string | "./config/tracking/" | The directory containing the tracking configuration files |
| `enable_logging` | bool | false | Whether to enable logging |
| `logging_file_path` | string | "/tmp/association_log.json" | The path to the file where logs should be written |
| `tracker_lifetime` | double | 1.0 | The lifetime of the tracker in seconds |
| `use_distance_based_noise_filtering` | bool | true | Whether to use distance based filtering |
| `minimum_range_threshold` | double | 70.0 | Minimum distance threshold for filtering in meters |
| `use_map_based_noise_filtering` | bool | true | Whether to use map based filtering |
| `max_distance_from_lane` | double | 5.0 | Maximum distance from lane for filtering in meters |
| `max_angle_diff_from_lane` | double | 0.785398 | Maximum angle difference from lane for filtering in radians |
| `max_lateral_velocity` | double | 5.0 | Maximum lateral velocity for filtering in m/s |
| `can_assign_matrix` | array | | An array of integers used in the data association algorithm |
| `max_dist_matrix` | array | | An array of doubles used in the data association algorithm |
| `max_area_matrix` | array | | An array of doubles used in the data association algorithm |
| `min_area_matrix` | array | | An array of doubles used in the data association algorithm |
| `max_rad_matrix` | array | | An array of doubles used in the data association algorithm |
| `min_iou_matrix` | array | | An array of doubles used in the data association algorithm |
{{ json_to_markdown("perception/autoware_radar_object_tracker/schema/data_association_matrix.schema.json") }}

See more details in the [models.md](models.md).

### Tracker parameters

Currently, this package supports the following trackers:
{{ json_to_markdown("perception/autoware_radar_object_tracker/schema/default_tracker.schema.json") }}

- `linear_motion_tracker`
- `constant_turn_rate_motion_tracker`
{{ json_to_markdown("perception/autoware_radar_object_tracker/schema/radar_object_tracker.schema.json") }}

Default settings for each tracker are defined in the [./config/tracking/](./config/tracking/), and described in [models.md](models.md).
{{ json_to_markdown("perception/autoware_radar_object_tracker/schema/simulation_tracker.schema.json") }}

## Assumptions / Known limits

Expand Down
168 changes: 168 additions & 0 deletions perception/autoware_radar_object_tracker/schema/data_association_matrix.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_radar_object_tracker parameter",
"type": "object",
"definitions": {
"autoware_radar_object_tracker": {
"type": "object",
"properties": {
"can_assign_matrix": {
"type": "array",
"description": "8x8 assignment matrix (Tracker x Measurement) with 0/1 values",
"items": {
"type": "integer",
"enum": [0, 1]
},
"minItems": 64,
"maxItems": 64,
"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": "8x8 maximum distance matrix",
"items": {
"type": "number",
"minimum": 0
},
"minItems": 64,
"maxItems": 64,
"default": [
4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 4.0, 8.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, 4.0,
6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, 4.0, 6.0,
8.0, 8.0, 8.0, 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": "8x8 maximum area matrix",
"items": {
"type": "number",
"minimum": 0
},
"minItems": 64,
"maxItems": 64,
"default": [
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,
10000.0, 10000.0, 10000.0, 36.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0,
60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0, 60.0, 12.1, 36.0, 60.0, 60.0,
10000.0, 10000.0, 10000.0, 2.5, 10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.5,
10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.0, 10000.0, 10000.0, 10000.0,
10000.0, 1.5, 1.5, 1.0
]
},
"min_area_matrix": {
"type": "array",
"description": "8x8 minimum area matrix",
"items": {
"type": "number",
"minimum": 0
},
"minItems": 64,
"maxItems": 64,
"default": [
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,
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,
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,
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
]
},
"max_rad_matrix": {
"type": "array",
"description": "8x8 maximum radius matrix",
"items": {
"type": "number",
"minimum": 0
},
"minItems": 64,
"maxItems": 64,
"default": [
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,
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,
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,
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,
3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15
]
},
"min_iou_matrix": {
"type": "array",
"description": "8x8 minimum IoU matrix",
"items": {
"type": "number"
},
"minItems": 64,
"maxItems": 64,
"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
]
},
"car_tracker": {
"type": "string",
"description": "Tracker type for cars",
"default": "pass_through_tracker"
},
"truck_tracker": {
"type": "string",
"description": "Tracker type for trucks",
"default": "pass_through_tracker"
},
"bus_tracker": {
"type": "string",
"description": "Tracker type for buses",
"default": "pass_through_tracker"
},
"pedestrian_tracker": {
"type": "string",
"description": "Tracker type for pedestrians",
"default": "pass_through_tracker"
},
"bicycle_tracker": {
"type": "string",
"description": "Tracker type for bicycles",
"default": "pass_through_tracker"
},
"motorcycle_tracker": {
"type": "string",
"description": "Tracker type for motorcycles",
"default": "pass_through_tracker"
}
},
"required": [
"can_assign_matrix",
"max_dist_matrix",
"max_area_matrix",
"min_area_matrix",
"max_rad_matrix",
"min_iou_matrix",
"car_tracker",
"truck_tracker",
"bus_tracker",
"pedestrian_tracker",
"bicycle_tracker",
"motorcycle_tracker"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/autoware_radar_object_tracker"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
71 changes: 71 additions & 0 deletions perception/autoware_radar_object_tracker/schema/default_tracker.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_radar_object_tracker parameters",
"type": "object",
"definitions": {
"autoware_radar_object_tracker": {
"type": "object",
"properties": {
"car_tracker": {
"type": "string",
"description": "Tracker type for cars",
"default": "constant_turn_rate_motion_tracker"
},
"truck_tracker": {
"type": "string",
"description": "Tracker type for trucks",
"default": "constant_turn_rate_motion_tracker"
},
"bus_tracker": {
"type": "string",
"description": "Tracker type for buses",
"default": "constant_turn_rate_motion_tracker"
},
"trailer_tracker": {
"type": "string",
"description": "Tracker type for trailers",
"default": "constant_turn_rate_motion_tracker"
},
"pedestrian_tracker": {
"type": "string",
"description": "Tracker type for pedestrians",
"default": "constant_turn_rate_motion_tracker"
},
"bicycle_tracker": {
"type": "string",
"description": "Tracker type for bicycles",
"default": "constant_turn_rate_motion_tracker"
},
"motorcycle_tracker": {
"type": "string",
"description": "Tracker type for motorcycles",
"default": "constant_turn_rate_motion_tracker"
}
},
"required": [
"car_tracker",
"truck_tracker",
"bus_tracker",
"trailer_tracker",
"pedestrian_tracker",
"bicycle_tracker",
"motorcycle_tracker"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/autoware_radar_object_tracker"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
113 changes: 113 additions & 0 deletions perception/autoware_radar_object_tracker/schema/radar_object_tracker.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_radar_object_tracker parameter",
"type": "object",
"definitions": {
"autoware_radar_object_tracker ": {
"type": "object",
"properties": {
"world_frame_id": {
"type": "string",
"description": "The frame ID of the world coordinate.",
"default": "map"
},
"tracker_lifetime": {
"type": "number",
"description": "The lifetime of the tracker in seconds.",
"default": 1.0
},
"measurement_count_threshold": {
"type": "integer",
"description": "The number of measurements required to publish an object.",
"default": 3
},
"publish_rate": {
"type": "number",
"description": "The rate at which to publish the output.",
"default": 10.0
},
"enable_delay_compensation": {
"type": "boolean",
"description": "Whether to enable delay compensation.",
"default": true
},
"enable_logging": {
"type": "boolean",
"description": "Whether to enable logging.",
"default": false
},
"logging_file_path": {
"type": "string",
"description": "The path to the file where logs should be written.",
"default": "/tmp/association_log.json"
},
"use_distance_based_noise_filtering": {
"type": "boolean",
"description": "Whether to enable distance-based noise filtering.",
"default": true
},
"minimum_range_threshold": {
"type": "number",
"description": "Minimum distance threshold for filtering in meters.",
"default": 60.0
},
"use_map_based_noise_filtering": {
"type": "boolean",
"description": "Whether to enable map-based noise filtering.",
"default": true
},
"max_distance_from_lane": {
"type": "number",
"description": "The maximum allowable distance from a lane for filtering, in meters.",
"default": 5.0
},
"max_angle_diff_from_lane": {
"type": "number",
"description": "The maximum angle difference from a lane for filtering, in radians.",
"default": 0.785398
},
"max_lateral_velocity": {
"type": "number",
"description": "The maximum lateral velocity for filtering, in meters per second.",
"default": 7.0
},
"tracking_config_directory": {
"type": "string",
"description": "The directory containing the tracking configuration.",
"default": "$(find-pkg-share radar_object_tracker)/config/tracking/"
}
},
"required": [
"world_frame_id",
"tracker_lifetime",
"measurement_count_threshold",
"publish_rate",
"enable_delay_compensation",
"enable_logging",
"logging_file_path",
"use_distance_based_noise_filtering",
"minimum_range_threshold",
"use_map_based_noise_filtering",
"max_distance_from_lane",
"max_angle_diff_from_lane",
"max_lateral_velocity",
"tracking_config_directory"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/autoware_radar_object_tracker "
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
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