pointpainting.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for Point Painting Fusion Node",
  "type": "object",
  "definitions": {
    "pointpainting": {
      "type": "object",
      "properties": {
        "model_params": {
          "type": "object",
          "description": "Parameters for model configuration.",
          "properties": {
            "class_names": {
              "type": "array",
              "description": "An array of class names will be predicted.",
              "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
              "uniqueItems": true
            },
            "paint_class_names": {
              "type": "array",
              "description": "An array of class names will be painted by PointPainting",
              "default": ["CAR", "BICYCLE", "PEDESTRIAN"],
              "uniqueItems": true
            },
            "point_feature_size": {
              "type": "integer",
              "description": "A number of channels of point feature layer.",
              "default": 7
            },
            "max_voxel_size": {
              "type": "integer",
              "description": "A maximum size of voxel grid.",
              "default": 40000
            },
            "point_cloud_range": {
              "type": "array",
              "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
              "default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
            },
            "voxel_size": {
              "type": "array",
              "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
              "default": [0.32, 0.32, 8.0]
            },
            "down_sample_factor": {
              "type": "integer",
              "description": "A scale factor of downsampling points",
              "default": 1,
              "minimum": 1
            },
            "encoder_in_feature_size": {
              "type": "integer",
              "description": "A size of encoder input feature channels.",
              "default": 12
            },
            "yaw_norm_thresholds": {
              "type": "array",
              "description": "An array of distance threshold values of norm of yaw [rad].",
              "default": [0.3, 0.3, 0.3, 0.3, 0.0],
              "minimum": 0.0,
              "maximum": 1.0
            },
            "has_variance": {
              "type": "boolean",
              "description": "Indicates whether the model outputs variance value.",
              "default": false
            },
            "has_twist": {
              "type": "boolean",
              "description": "Indicates whether the model outputs twist value.",
              "default": false
            }
          }
        },
        "densification_params": {
          "type": "object",
          "description": "Parameters for pointcloud densification.",
          "properties": {
            "world_frame_id": {
              "type": "string",
              "description": "A name of frame id where world coordinates system is defined with respect to.",
              "default": "map"
            },
            "num_past_frames": {
              "type": "integer",
              "description": "A number of past frames to be considered as same input frame.",
              "default": 0,
              "minimum": 0
            }
          }
        },
        "post_process_params": {
          "type": "object",
          "properties": {
            "score_threshold": {
              "type": "number",
              "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
              "default": 0.4,
              "minimum": 0.0,
              "maximum": 1.0
            },
            "circle_nms_dist_threshold": {
              "type": "number",
              "description": "",
              "default": 0.3,
              "minimum": 0.0,
              "maximum": 1.0
            },
            "iou_nms_target_class_names": {
              "type": "array",
              "description": "An array of class names to be target in NMS.",
              "default": ["CAR"],
              "uniqueItems": true
            },
            "iou_search_distance_2d": {
              "type": "number",
              "description": "A maximum distance value to search the nearest objects.",
              "default": 10.0,
              "minimum": 0.0
            },
            "iou_nms_threshold": {
              "type": "number",
              "description": "A threshold value of NMS using IoU score.",
              "default": 0.1,
              "minimum": 0.0,
              "maximum": 1.0
            }
          }
        },
        "omp_params": {
          "type": "object",
          "properties": {
            "num_threads": {
              "type": "integer",
              "description": "The number of threads that is set to the environment variable OMP_NUM_THREADS.",
              "default": 1,
              "minimum": 1
            }
          }
        }
      },
      "required": ["model_params", "densification_params", "post_process_params", "omp_params"]
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/pointpainting"
        }
      },
      "required": ["ros__parameters"]
    }
  },
  "required": ["/**"]
}