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feat(radar_object_clustering): created schema file and updated readme file for parameters settings (autowarefoundation#9966)
* feat: created schema files and upadted Readme file , yaml files Signed-off-by: vish0012 <vishalchhn42@gmail.com> * style(pre-commit): autofix * Update README.md Update README file --------- Signed-off-by: vish0012 <vishalchhn42@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎perception/autoware_radar_object_clustering/README.md

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### Parameter
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- `angle_threshold` (double) [rad]
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- Default parameter is 0.174.
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- `distance_threshold` (double) [m]
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- Default parameter is 4.0.
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- `velocity_threshold` (double) [m/s]
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- Default parameter is 2.0.
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These parameter are thresholds for angle, distance, and velocity to judge whether radar detections come from one object in "clustering" processing, which is written in detail at algorithm section.
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If all of the difference in angle/distance/velocity from two objects is less than the thresholds, then the two objects are merged to one clustered object.
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If these parameter is larger, more objects are merged to one clustered object.
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These are used in `isSameObject` function as below.
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```cpp
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bool RadarObjectClusteringNode::isSameObject(
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const DetectedObject & object_1, const DetectedObject & object_2)
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{
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const double angle_diff = std::abs(autoware::universe_utils::normalizeRadian(
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tf2::getYaw(object_1.kinematics.pose_with_covariance.pose.orientation) -
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tf2::getYaw(object_2.kinematics.pose_with_covariance.pose.orientation)));
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const double velocity_diff = std::abs(
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object_1.kinematics.twist_with_covariance.twist.linear.x -
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object_2.kinematics.twist_with_covariance.twist.linear.x);
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const double distance = autoware::universe_utils::calcDistance2d(
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object_1.kinematics.pose_with_covariance.pose.position,
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object_2.kinematics.pose_with_covariance.pose.position);
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if (
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distance < node_param_.distance_threshold && angle_diff < node_param_.angle_threshold &&
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velocity_diff < node_param_.velocity_threshold) {
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return true;
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} else {
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return false;
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}
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}
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```
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- `is_fixed_label` (bool)
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- Default parameter is false.
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- `fixed_label` (string)
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- Default parameter is "UNKNOWN".
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`is_fixed_label` is the flag to use fixed label.
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If it is true, the label of a clustered object is overwritten by the label set by `fixed_label` parameter.
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If the radar objects do not have label information, then it is recommended to use fixed label.
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- `is_fixed_size` (bool)
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- Default parameter is false.
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- `size_x` (double) [m]
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- Default parameter is 4.0.
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- `size_y` (double) [m]
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- Default parameter is 1.5.
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- `size_z` (double) [m]
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- Default parameter is 1.5.
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`is_fixed_size` is the flag to use fixed size parameters.
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If it is true, the size of a clustered object is overwritten by the label set by `size_x`, `size_y`, and `size_z` parameters.
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{{ json_to_markdown("perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml/schema/radar_object_clustering.schema.json") }}

‎perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml

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ros__parameters:
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# clustering parameter
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angle_threshold: 0.174 # [rad] (10 deg)
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distance_threshold: 10.0 # [m]
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velocity_threshold: 4.0 # [m/s]
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distance_threshold: 4.0 # [m]
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velocity_threshold: 2.0 # [m/s]
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# output object settings
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# set false if you want to use the object information from radar
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is_fixed_label: true
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fixed_label: "CAR"
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is_fixed_size: true
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is_fixed_label: false
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fixed_label: "UNKNOWN"
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is_fixed_size: false
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size_x: 4.0 # [m]
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size_y: 1.5 # [m]
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size_z: 1.5 # [m]

‎perception/autoware_radar_object_clustering/schema/radar_object_clustering.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Radar Object Clustering Parameters",
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"type": "object",
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"definitions": {
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"radar_object_clustering": {
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"type": "object",
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"properties": {
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"angle_threshold": {
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"type": "number",
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"description": "Threshold for angle to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
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"default": 0.174
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},
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"distance_threshold": {
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"type": "number",
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"description": "Threshold for distance to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
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"default": 4.0
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},
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"velocity_threshold": {
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"type": "number",
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"description": "Threshold for velocity to determine whether radar detections come from one object during clustering. Larger values merge more objects.",
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"default": 2.0
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},
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"is_fixed_label": {
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"type": "boolean",
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"description": "Flag to use a fixed label. If true, the label of a clustered object is overwritten by the `fixed_label` parameter.",
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"default": false
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},
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"fixed_label": {
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"type": "string",
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"description": "The fixed label to use when `is_fixed_label` is true.",
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"default": "UNKNOWN"
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},
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"is_fixed_size": {
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"type": "boolean",
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"description": "Flag to use fixed size parameters. If true, the size of a clustered object is overwritten by the `size_x`, `size_y`, and `size_z` parameters.",
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"default": false
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},
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"size_x": {
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"type": "number",
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"description": "Size of the clustered object in the x-dimension, used if `is_fixed_size` is true.",
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"default": 4.0
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},
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"size_y": {
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"type": "number",
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"description": "Size of the clustered object in the y-dimension, used if `is_fixed_size` is true.",
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"default": 1.5
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},
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"size_z": {
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"type": "number",
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"description": "Size of the clustered object in the z-dimension, used if `is_fixed_size` is true.",
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"default": 1.5
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}
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},
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"required": [
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"angle_threshold",
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"distance_threshold",
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"velocity_threshold",
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"is_fixed_label",
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"fixed_label",
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"is_fixed_size",
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"size_x",
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"size_y",
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"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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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/radar_object_clustering"
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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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