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‎perception/autoware_radar_object_tracker/schema/data_association_matrix.schema.json

+27-45
Original file line numberDiff line numberDiff line change
@@ -16,10 +16,9 @@
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"minItems": 64,
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"maxItems": 64,
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"default": [
19-
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20-
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21-
0,1,1,1,1,0,0,0,0,0,0,0,0,1,1,1,
22-
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19+
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21+
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]
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},
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"max_dist_matrix": {
@@ -32,14 +31,10 @@
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"minItems": 64,
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"maxItems": 64,
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"default": [
35-
4.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,
36-
4.0,8.0,8.0,8.0,8.0,1.0,1.0,1.0,
37-
4.0,6.0,8.0,8.0,8.0,1.0,1.0,1.0,
38-
4.0,6.0,8.0,8.0,8.0,1.0,1.0,1.0,
39-
4.0,6.0,8.0,8.0,8.0,1.0,1.0,1.0,
40-
3.0,1.0,1.0,1.0,1.0,3.0,3.0,2.0,
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3.0,1.0,1.0,1.0,1.0,3.0,3.0,2.0,
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2.0,1.0,1.0,1.0,1.0,3.0,3.0,2.0
34+
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,
35+
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,
36+
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,
37+
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
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]
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},
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"max_area_matrix": {
@@ -52,14 +47,12 @@
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"minItems": 64,
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"maxItems": 64,
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"default": [
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100.0,100.0,100.0,100.0,100.0,100.0,100.0,100.0,
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12.1,12.1,36.0,60.0,60.0,10000.0,10000.0,10000.0,
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36.0,12.1,36.0,60.0,60.0,10000.0,10000.0,10000.0,
58-
60.0,12.1,36.0,60.0,60.0,10000.0,10000.0,10000.0,
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60.0,12.1,36.0,60.0,60.0,10000.0,10000.0,10000.0,
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2.5,10000.0,10000.0,10000.0,10000.0,2.5,2.5,1.0,
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2.5,10000.0,10000.0,10000.0,10000.0,2.5,2.5,1.0,
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2.0,10000.0,10000.0,10000.0,10000.0,1.5,1.5,1.0
50+
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,
51+
10000.0, 10000.0, 10000.0, 36.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0,
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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,
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10000.0, 10000.0, 10000.0, 2.5, 10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.5,
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10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.0, 10000.0, 10000.0, 10000.0,
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10000.0, 1.5, 1.5, 1.0
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]
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},
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"min_area_matrix": {
@@ -72,14 +65,10 @@
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"minItems": 64,
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"maxItems": 64,
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"default": [
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0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,
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3.6,3.6,6.0,10.0,10.0,0.0,0.0,0.0,
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6.0,3.6,6.0,10.0,10.0,0.0,0.0,0.0,
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10.0,3.6,6.0,10.0,10.0,0.0,0.0,0.0,
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10.0,3.6,6.0,10.0,10.0,0.0,0.0,0.0,
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0.001,0.0,0.0,0.0,0.0,0.1,0.1,0.1,
81-
0.001,0.0,0.0,0.0,0.0,0.1,0.1,0.1,
82-
0.001,0.0,0.0,0.0,0.0,0.1,0.1,0.1
68+
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,
69+
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,
70+
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,
71+
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
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]
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},
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"max_rad_matrix": {
@@ -92,14 +81,11 @@
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"minItems": 64,
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"maxItems": 64,
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"default": [
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3.15,3.15,3.15,3.15,3.15,3.15,3.15,3.15,
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3.15,1.047,1.047,1.047,1.047,3.15,3.15,3.15,
97-
3.15,1.047,1.047,1.047,1.047,3.15,3.15,3.15,
98-
3.15,1.047,1.047,1.047,1.047,3.15,3.15,3.15,
99-
3.15,1.047,1.047,1.047,1.047,3.15,3.15,3.15,
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3.15,3.15,3.15,3.15,3.15,3.15,3.15,3.15,
101-
3.15,3.15,3.15,3.15,3.15,3.15,3.15,3.15,
102-
3.15,3.15,3.15,3.15,3.15,3.15,3.15,3.15
84+
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,
85+
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,
86+
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,
87+
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,
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3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15
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]
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},
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"min_iou_matrix": {
@@ -111,14 +97,10 @@
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"minItems": 64,
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"maxItems": 64,
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"default": [
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0.0001,0.1,0.1,0.1,0.1,0.1,0.1,0.1,
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0.1,-0.1,0.2,0.2,0.2,0.1,0.1,0.1,
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0.1,0.2,0.3,0.3,0.3,0.1,0.1,0.1,
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0.1,0.2,0.3,0.3,0.3,0.1,0.1,0.1,
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0.1,0.2,0.3,0.3,0.3,0.1,0.1,0.1,
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0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.1,
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0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.1,
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0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.0001
100+
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,
101+
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,
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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,
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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
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]
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},
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"car_tracker": {
@@ -183,4 +165,4 @@
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},
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"required": ["/**"],
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"additionalProperties": false
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}
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}

‎perception/autoware_radar_object_tracker/schema/default_tracker.schema.json

+68-68
Original file line numberDiff line numberDiff line change
@@ -1,71 +1,71 @@
11
{
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"$schema": "http://json-schema.org/draft-07/schema#",
3-
"title": "autoware_radar_object_tracker parameters",
4-
"type": "object",
5-
"definitions": {
6-
"autoware_radar_object_tracker": {
7-
"type": "object",
8-
"properties": {
9-
"car_tracker": {
10-
"type": "string",
11-
"description": "Tracker type for cars",
12-
"default": "constant_turn_rate_motion_tracker"
13-
},
14-
"truck_tracker": {
15-
"type": "string",
16-
"description": "Tracker type for trucks",
17-
"default": "constant_turn_rate_motion_tracker"
18-
},
19-
"bus_tracker": {
20-
"type": "string",
21-
"description": "Tracker type for buses",
22-
"default": "constant_turn_rate_motion_tracker"
23-
},
24-
"trailer_tracker": {
25-
"type": "string",
26-
"description": "Tracker type for trailers",
27-
"default": "constant_turn_rate_motion_tracker"
28-
},
29-
"pedestrian_tracker": {
30-
"type": "string",
31-
"description": "Tracker type for pedestrians",
32-
"default": "constant_turn_rate_motion_tracker"
33-
},
34-
"bicycle_tracker": {
35-
"type": "string",
36-
"description": "Tracker type for bicycles",
37-
"default": "constant_turn_rate_motion_tracker"
38-
},
39-
"motorcycle_tracker": {
40-
"type": "string",
41-
"description": "Tracker type for motorcycles",
42-
"default": "constant_turn_rate_motion_tracker"
43-
}
2+
"$schema": "http://json-schema.org/draft-07/schema#",
3+
"title": "autoware_radar_object_tracker parameters",
4+
"type": "object",
5+
"definitions": {
6+
"autoware_radar_object_tracker": {
7+
"type": "object",
8+
"properties": {
9+
"car_tracker": {
10+
"type": "string",
11+
"description": "Tracker type for cars",
12+
"default": "constant_turn_rate_motion_tracker"
4413
},
45-
"required": [
46-
"car_tracker",
47-
"truck_tracker",
48-
"bus_tracker",
49-
"trailer_tracker",
50-
"pedestrian_tracker",
51-
"bicycle_tracker",
52-
"motorcycle_tracker"
53-
],
54-
"additionalProperties": false
55-
}
56-
},
57-
"properties": {
58-
"/**": {
59-
"type": "object",
60-
"properties": {
61-
"ros__parameters": {
62-
"$ref": "#/definitions/autoware_radar_object_tracker"
63-
}
14+
"truck_tracker": {
15+
"type": "string",
16+
"description": "Tracker type for trucks",
17+
"default": "constant_turn_rate_motion_tracker"
6418
},
65-
"required": ["ros__parameters"],
66-
"additionalProperties": false
67-
}
68-
},
69-
"required": ["/**"],
70-
"additionalProperties": false
71-
}
19+
"bus_tracker": {
20+
"type": "string",
21+
"description": "Tracker type for buses",
22+
"default": "constant_turn_rate_motion_tracker"
23+
},
24+
"trailer_tracker": {
25+
"type": "string",
26+
"description": "Tracker type for trailers",
27+
"default": "constant_turn_rate_motion_tracker"
28+
},
29+
"pedestrian_tracker": {
30+
"type": "string",
31+
"description": "Tracker type for pedestrians",
32+
"default": "constant_turn_rate_motion_tracker"
33+
},
34+
"bicycle_tracker": {
35+
"type": "string",
36+
"description": "Tracker type for bicycles",
37+
"default": "constant_turn_rate_motion_tracker"
38+
},
39+
"motorcycle_tracker": {
40+
"type": "string",
41+
"description": "Tracker type for motorcycles",
42+
"default": "constant_turn_rate_motion_tracker"
43+
}
44+
},
45+
"required": [
46+
"car_tracker",
47+
"truck_tracker",
48+
"bus_tracker",
49+
"trailer_tracker",
50+
"pedestrian_tracker",
51+
"bicycle_tracker",
52+
"motorcycle_tracker"
53+
],
54+
"additionalProperties": false
55+
}
56+
},
57+
"properties": {
58+
"/**": {
59+
"type": "object",
60+
"properties": {
61+
"ros__parameters": {
62+
"$ref": "#/definitions/autoware_radar_object_tracker"
63+
}
64+
},
65+
"required": ["ros__parameters"],
66+
"additionalProperties": false
67+
}
68+
},
69+
"required": ["/**"],
70+
"additionalProperties": false
71+
}

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