segmentation_pointcloud_fusion.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for Segmentation Pointcloud Fusion Node",
  "type": "object",
  "definitions": {
    "segmentation_pointcloud_fusion": {
      "type": "object",
      "properties": {
        "filter_semantic_label_target": {
          "type": "object",
          "properties": {
            "UNKNOWN": {
              "type": "boolean",
              "description": "If true, UNKNOWN class of semantic will be filtered.",
              "default": false
            },
            "BUILDING": {
              "type": "boolean",
              "description": "If true, BUILDING class of semantic will be filtered.",
              "default": true
            },
            "WALL": {
              "type": "boolean",
              "description": "If true, WALL class of semantic will be filtered.",
              "default": true
            },
            "OBSTACLE": {
              "type": "boolean",
              "description": "If true, OBSTACLE class of semantic will be filtered.",
              "default": false
            },
            "TRAFFIC_LIGHT": {
              "type": "boolean",
              "description": "If true, TRAFFIC_LIGHT class of semantic will be filtered.",
              "default": false
            },
            "TRAFFIC_SIGN": {
              "type": "boolean",
              "description": "If true, TRAFFIC_SIGN class of semantic will be filtered.",
              "default": false
            },
            "PERSON": {
              "type": "boolean",
              "description": "If true, PERSON class of semantic will be filtered.",
              "default": false
            },
            "VEHICLE": {
              "type": "boolean",
              "description": "If true, VEHICLE class of semantic will be filtered.",
              "default": false
            },
            "BIKE": {
              "type": "boolean",
              "description": "If true, BIKE class of semantic will be filtered.",
              "default": false
            },
            "ROAD": {
              "type": "boolean",
              "description": "If true, ROAD class of semantic will be filtered.",
              "default": true
            },
            "SIDEWALK": {
              "type": "boolean",
              "description": "If true, SIDEWALK class of semantic will be filtered.",
              "default": false
            },
            "ROAD_PAINT": {
              "type": "boolean",
              "description": "If true, ROAD_PAINT class of semantic will be filtered.",
              "default": false
            },
            "CURBSTONE": {
              "type": "boolean",
              "description": "If true, CURBSTONE class of semantic will be filtered.",
              "default": false
            },
            "CROSSWALK": {
              "type": "boolean",
              "description": "If true, CROSSWALK class of semantic will be filtered.",
              "default": false
            },
            "VEGETATION": {
              "type": "boolean",
              "description": "If true, VEGETATION class of semantic will be filtered.",
              "default": true
            },
            "SKY": {
              "type": "boolean",
              "description": "If true, SKY class of semantic will be filtered.",
              "default": false
            }
          },
          "required": [
            "UNKNOWN",
            "BUILDING",
            "WALL",
            "OBSTACLE",
            "TRAFFIC_LIGHT",
            "TRAFFIC_SIGN",
            "PERSON",
            "VEHICLE",
            "BIKE",
            "ROAD",
            "SIDEWALK",
            "ROAD_PAINT",
            "CURBSTONE",
            "CROSSWALK",
            "VEGETATION",
            "SKY"
          ]
        },
        "filter_distance_threshold": {
          "type": "number",
          "description": "A maximum distance of pointcloud to apply filter [m].",
          "default": 60.0,
          "minimum": 0.0
        },
        "is_publish_debug_mask": {
          "type": "boolean",
          "description": "If true, debug mask image will be published.",
          "default": false
        }
      },
      "required": [
        "filter_semantic_label_target",
        "filter_distance_threshold",
        "is_publish_debug_mask"
      ]
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/segmentation_pointcloud_fusion"
        }
      },
      "required": ["ros__parameters"]
    }
  },
  "required": ["/**"]
}