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fix: updated schema file
Signed-off-by: vish0012 <vishalchhn42@gmail.com>
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-58
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+196
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‎perception/autoware_radar_object_tracker/schema/data_association_matrix.schema.json

+125-58
Original file line numberDiff line numberDiff line change
@@ -3,92 +3,153 @@
33
"title": "autoware_radar_object_tracker parameter",
44
"type": "object",
55
"definitions": {
6-
"autoware_radar_object_tracker parameter": {
6+
"autoware_radar_object_tracker": {
77
"type": "object",
88
"properties": {
99
"can_assign_matrix": {
1010
"type": "array",
11-
"description": "An array of doubles used in the data association.",
11+
"description": "8x8 assignment matrix (Tracker x Measurement) with 0/1 values",
12+
"items": {
13+
"type": "integer",
14+
"enum": [0, 1]
15+
},
16+
"minItems": 64,
17+
"maxItems": 64,
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"default": [
13-
[1, 0, 0, 0, 0, 0, 0, 0],
14-
[0, 1, 1, 1, 1, 0, 0, 0],
15-
[0, 1, 1, 1, 1, 0, 0, 0],
16-
[0, 1, 1, 1, 1, 0, 0, 0],
17-
[0, 1, 1, 1, 1, 0, 0, 0],
18-
[0, 0, 0, 0, 0, 1, 1, 1],
19-
[0, 0, 0, 0, 0, 1, 1, 1],
20-
[0, 0, 0, 0, 0, 1, 1, 1]
19+
1,0,0,0,0,0,0,0,0,1,1,1,1,0,0,0,
20+
0,1,1,1,1,0,0,0,0,1,1,1,1,0,0,0,
21+
0,1,1,1,1,0,0,0,0,0,0,0,0,1,1,1,
22+
0,0,0,0,0,1,1,1,0,0,0,0,0,1,1,1
2123
]
2224
},
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"max_dist_matrix": {
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"type": "array",
25-
"description": "An array of doubles used in the data association.",
27+
"description": "8x8 maximum distance matrix",
28+
"items": {
29+
"type": "number",
30+
"minimum": 0
31+
},
32+
"minItems": 64,
33+
"maxItems": 64,
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"default": [
27-
[4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
28-
[4.0, 8.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
29-
[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
30-
[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
31-
[4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0],
32-
[3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0],
33-
[3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0],
34-
[2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0]
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,
41+
3.0,1.0,1.0,1.0,1.0,3.0,3.0,2.0,
42+
2.0,1.0,1.0,1.0,1.0,3.0,3.0,2.0
3543
]
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},
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"max_area_matrix": {
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"type": "array",
39-
"description": "An array of doubles used in the data association.",
47+
"description": "8x8 maximum area matrix",
48+
"items": {
49+
"type": "number",
50+
"minimum": 0
51+
},
52+
"minItems": 64,
53+
"maxItems": 64,
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"default": [
41-
[100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0],
42-
[12.1, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0],
43-
[36.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0],
44-
[60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0],
45-
[60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0],
46-
[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]
55+
100.0,100.0,100.0,100.0,100.0,100.0,100.0,100.0,
56+
12.1,12.1,36.0,60.0,60.0,10000.0,10000.0,10000.0,
57+
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,
59+
60.0,12.1,36.0,60.0,60.0,10000.0,10000.0,10000.0,
60+
2.5,10000.0,10000.0,10000.0,10000.0,2.5,2.5,1.0,
61+
2.5,10000.0,10000.0,10000.0,10000.0,2.5,2.5,1.0,
62+
2.0,10000.0,10000.0,10000.0,10000.0,1.5,1.5,1.0
4963
]
5064
},
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"min_area_matrix": {
5266
"type": "array",
53-
"description": "An array of doubles used in the data association.",
67+
"description": "8x8 minimum area matrix",
68+
"items": {
69+
"type": "number",
70+
"minimum": 0
71+
},
72+
"minItems": 64,
73+
"maxItems": 64,
5474
"default": [
55-
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
56-
[3.6, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0],
57-
[6.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0],
58-
[10.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0],
59-
[10.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0],
60-
[0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1],
61-
[0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1],
62-
[0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1]
75+
0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,
76+
3.6,3.6,6.0,10.0,10.0,0.0,0.0,0.0,
77+
6.0,3.6,6.0,10.0,10.0,0.0,0.0,0.0,
78+
10.0,3.6,6.0,10.0,10.0,0.0,0.0,0.0,
79+
10.0,3.6,6.0,10.0,10.0,0.0,0.0,0.0,
80+
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
6383
]
6484
},
6585
"max_rad_matrix": {
6686
"type": "array",
67-
"description": "An array of doubles used in the data association.",
87+
"description": "8x8 maximum radius matrix",
88+
"items": {
89+
"type": "number",
90+
"minimum": 0
91+
},
92+
"minItems": 64,
93+
"maxItems": 64,
6894
"default": [
69-
[3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15],
70-
[3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15],
71-
[3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15],
72-
[3.15, 1.047, 1.047, 1.047, 1.047, 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],
74-
[3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15],
75-
[3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15],
76-
[3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15]
95+
3.15,3.15,3.15,3.15,3.15,3.15,3.15,3.15,
96+
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,
100+
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
77103
]
78104
},
79105
"min_iou_matrix": {
80106
"type": "array",
81-
"description": "An array of doubles used in the data association.",
107+
"description": "8x8 minimum IoU matrix",
108+
"items": {
109+
"type": "number"
110+
},
111+
"minItems": 64,
112+
"maxItems": 64,
82113
"default": [
83-
[0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
84-
[0.1, -0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1],
85-
[0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1],
86-
[0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1],
87-
[0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1],
88-
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
89-
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
90-
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001]
114+
0.0001,0.1,0.1,0.1,0.1,0.1,0.1,0.1,
115+
0.1,-0.1,0.2,0.2,0.2,0.1,0.1,0.1,
116+
0.1,0.2,0.3,0.3,0.3,0.1,0.1,0.1,
117+
0.1,0.2,0.3,0.3,0.3,0.1,0.1,0.1,
118+
0.1,0.2,0.3,0.3,0.3,0.1,0.1,0.1,
119+
0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.1,
120+
0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.1,
121+
0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.0001
91122
]
123+
},
124+
"car_tracker": {
125+
"type": "string",
126+
"description": "Tracker type for cars",
127+
"default": "pass_through_tracker"
128+
},
129+
"truck_tracker": {
130+
"type": "string",
131+
"description": "Tracker type for trucks",
132+
"default": "pass_through_tracker"
133+
},
134+
"bus_tracker": {
135+
"type": "string",
136+
"description": "Tracker type for buses",
137+
"default": "pass_through_tracker"
138+
},
139+
"pedestrian_tracker": {
140+
"type": "string",
141+
"description": "Tracker type for pedestrians",
142+
"default": "pass_through_tracker"
143+
},
144+
"bicycle_tracker": {
145+
"type": "string",
146+
"description": "Tracker type for bicycles",
147+
"default": "pass_through_tracker"
148+
},
149+
"motorcycle_tracker": {
150+
"type": "string",
151+
"description": "Tracker type for motorcycles",
152+
"default": "pass_through_tracker"
92153
}
93154
},
94155
"required": [
@@ -97,7 +158,13 @@
97158
"max_area_matrix",
98159
"min_area_matrix",
99160
"max_rad_matrix",
100-
"min_iou_matrix"
161+
"min_iou_matrix",
162+
"car_tracker",
163+
"truck_tracker",
164+
"bus_tracker",
165+
"pedestrian_tracker",
166+
"bicycle_tracker",
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"motorcycle_tracker"
101168
],
102169
"additionalProperties": false
103170
}
@@ -107,7 +174,7 @@
107174
"type": "object",
108175
"properties": {
109176
"ros__parameters": {
110-
"$ref": "#/definitions/autoware_radar_object_tracker parameter"
177+
"$ref": "#/definitions/autoware_radar_object_tracker"
111178
}
112179
},
113180
"required": ["ros__parameters"],
@@ -116,4 +183,4 @@
116183
},
117184
"required": ["/**"],
118185
"additionalProperties": false
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}
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}

‎perception/autoware_radar_object_tracker/schema/default_tracker.schema.json

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@@ -0,0 +1,71 @@
1+
{
2+
"$schema": "http://json-schema.org/draft-07/schema#",
3+
"title": "autoware_radar_object_tracker parameters",
4+
"type": "object",
5+
"definitions": {
6+
"autoware_radar_object_tracker": {
7+
"type": "object",
8+
"properties": {
9+
"car_tracker": {
10+
"type": "string",
11+
"description": "Tracker type for cars",
12+
"default": "constant_turn_rate_motion_tracker"
13+
},
14+
"truck_tracker": {
15+
"type": "string",
16+
"description": "Tracker type for trucks",
17+
"default": "constant_turn_rate_motion_tracker"
18+
},
19+
"bus_tracker": {
20+
"type": "string",
21+
"description": "Tracker type for buses",
22+
"default": "constant_turn_rate_motion_tracker"
23+
},
24+
"trailer_tracker": {
25+
"type": "string",
26+
"description": "Tracker type for trailers",
27+
"default": "constant_turn_rate_motion_tracker"
28+
},
29+
"pedestrian_tracker": {
30+
"type": "string",
31+
"description": "Tracker type for pedestrians",
32+
"default": "constant_turn_rate_motion_tracker"
33+
},
34+
"bicycle_tracker": {
35+
"type": "string",
36+
"description": "Tracker type for bicycles",
37+
"default": "constant_turn_rate_motion_tracker"
38+
},
39+
"motorcycle_tracker": {
40+
"type": "string",
41+
"description": "Tracker type for motorcycles",
42+
"default": "constant_turn_rate_motion_tracker"
43+
}
44+
},
45+
"required": [
46+
"car_tracker",
47+
"truck_tracker",
48+
"bus_tracker",
49+
"trailer_tracker",
50+
"pedestrian_tracker",
51+
"bicycle_tracker",
52+
"motorcycle_tracker"
53+
],
54+
"additionalProperties": false
55+
}
56+
},
57+
"properties": {
58+
"/**": {
59+
"type": "object",
60+
"properties": {
61+
"ros__parameters": {
62+
"$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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