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refactor(input_channels): restructure flags for input channel properties
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
1 parent 1a1b9ef commit c89ffba

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+114
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‎perception/autoware_multi_object_tracker/schema/input_channels.schema.json

+114-17
Original file line numberDiff line numberDiff line change
@@ -11,10 +11,35 @@
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"description": "The ROS topic name for the input channel.",
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"default": "/perception/object_recognition/detection/objects"
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},
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"can_spawn_new_tracker": {
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"type": "boolean",
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"description": "Indicates if the input channel can spawn new trackers.",
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"default": true
14+
"flags": {
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"type": "object",
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"properties": {
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"can_spawn_new_tracker": {
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"type": "boolean",
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"description": "Indicates if the input channel can spawn new trackers.",
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"default": true
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},
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"can_trust_existence_probability": {
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"type": "boolean",
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"description": "Indicates if the input channel can trust the existence probability.",
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"default": true
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},
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"can_trust_extension": {
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"type": "boolean",
29+
"description": "Indicates if the input channel can trust the object size(extension).",
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"default": true
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},
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"can_trust_classification": {
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"type": "boolean",
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"description": "Indicates if the input channel can trust the object classification.",
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"default": true
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},
37+
"can_trust_orientation": {
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"type": "boolean",
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"description": "Indicates if the input channel can trust the object orientation.",
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"default": true
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}
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}
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},
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"optional": {
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"type": "object",
@@ -32,7 +57,7 @@
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}
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}
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},
35-
"required": ["topic", "can_spawn_new_tracker"]
60+
"required": ["topic", "flags"]
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}
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},
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"properties": {
@@ -49,7 +74,13 @@
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/objects",
52-
"can_spawn_new_tracker": true,
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"flags": {
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"can_spawn_new_tracker": true,
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"can_trust_existence_probability": true,
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"can_trust_extension": true,
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"can_trust_classification": true,
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"can_trust_orientation": true
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},
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"optional": {
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"name": "detected_objects",
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"short_name": "all"
@@ -60,7 +91,13 @@
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/clustering/objects",
63-
"can_spawn_new_tracker": true,
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"flags": {
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"can_spawn_new_tracker": true,
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"can_trust_existence_probability": false,
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"can_trust_extension": false,
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"can_trust_classification": false,
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"can_trust_orientation": false
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},
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"optional": {
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"name": "clustering",
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"short_name": "Lcl"
@@ -71,7 +108,13 @@
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"$ref": "#/definitions/input_channel",
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"default": {
73110
"topic": "/perception/object_recognition/detection/centerpoint/objects",
74-
"can_spawn_new_tracker": true,
111+
"flags": {
112+
"can_spawn_new_tracker": true,
113+
"can_trust_existence_probability": true,
114+
"can_trust_extension": true,
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"can_trust_classification": true,
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"can_trust_orientation": true
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},
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"optional": {
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"name": "centerpoint",
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"short_name": "Lcp"
@@ -82,7 +125,13 @@
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/centerpoint/validation/objects",
85-
"can_spawn_new_tracker": true,
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"flags": {
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"can_spawn_new_tracker": true,
130+
"can_trust_existence_probability": true,
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"can_trust_extension": true,
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"can_trust_classification": true,
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"can_trust_orientation": true
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},
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"optional": {
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"name": "centerpoint",
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"short_name": "Lcp"
@@ -93,7 +142,13 @@
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/apollo/objects",
96-
"can_spawn_new_tracker": true,
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"flags": {
146+
"can_spawn_new_tracker": true,
147+
"can_trust_existence_probability": true,
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"can_trust_extension": true,
149+
"can_trust_classification": true,
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"can_trust_orientation": true
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},
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"optional": {
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"name": "apollo",
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"short_name": "Lap"
@@ -104,7 +159,13 @@
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"$ref": "#/definitions/input_channel",
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"default": {
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"topic": "/perception/object_recognition/detection/apollo/validation/objects",
107-
"can_spawn_new_tracker": true,
162+
"flags": {
163+
"can_spawn_new_tracker": true,
164+
"can_trust_existence_probability": true,
165+
"can_trust_extension": true,
166+
"can_trust_classification": true,
167+
"can_trust_orientation": true
168+
},
108169
"optional": {
109170
"name": "apollo",
110171
"short_name": "Lap"
@@ -115,7 +176,13 @@
115176
"$ref": "#/definitions/input_channel",
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"default": {
117178
"topic": "/perception/object_recognition/detection/pointpainting/objects",
118-
"can_spawn_new_tracker": true,
179+
"flags": {
180+
"can_spawn_new_tracker": true,
181+
"can_trust_existence_probability": true,
182+
"can_trust_extension": true,
183+
"can_trust_classification": true,
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"can_trust_orientation": true
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},
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"optional": {
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"name": "pointpainting",
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"short_name": "Lpp"
@@ -126,7 +193,13 @@
126193
"$ref": "#/definitions/input_channel",
127194
"default": {
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"topic": "/perception/object_recognition/detection/pointpainting/validation/objects",
129-
"can_spawn_new_tracker": true,
196+
"flags": {
197+
"can_spawn_new_tracker": true,
198+
"can_trust_existence_probability": true,
199+
"can_trust_extension": true,
200+
"can_trust_classification": true,
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"can_trust_orientation": true
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},
130203
"optional": {
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"name": "pointpainting",
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"short_name": "Lpp"
@@ -137,7 +210,13 @@
137210
"$ref": "#/definitions/input_channel",
138211
"default": {
139212
"topic": "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects",
140-
"can_spawn_new_tracker": true,
213+
"flags": {
214+
"can_spawn_new_tracker": true,
215+
"can_trust_existence_probability": false,
216+
"can_trust_extension": false,
217+
"can_trust_classification": true,
218+
"can_trust_orientation": false
219+
},
141220
"optional": {
142221
"name": "camera_lidar_fusion",
143222
"short_name": "CLf"
@@ -148,7 +227,13 @@
148227
"$ref": "#/definitions/input_channel",
149228
"default": {
150229
"topic": "/perception/object_recognition/detection/detection_by_tracker/objects",
151-
"can_spawn_new_tracker": false,
230+
"flags": {
231+
"can_spawn_new_tracker": false,
232+
"can_trust_existence_probability": false,
233+
"can_trust_extension": false,
234+
"can_trust_classification": false,
235+
"can_trust_orientation": false
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},
152237
"optional": {
153238
"name": "detection_by_tracker",
154239
"short_name": "dbT"
@@ -159,7 +244,13 @@
159244
"$ref": "#/definitions/input_channel",
160245
"default": {
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"topic": "/sensing/radar/detected_objects",
162-
"can_spawn_new_tracker": true,
247+
"flags": {
248+
"can_spawn_new_tracker": true,
249+
"can_trust_existence_probability": true,
250+
"can_trust_extension": false,
251+
"can_trust_classification": true,
252+
"can_trust_orientation": false
253+
},
163254
"optional": {
164255
"name": "radar",
165256
"short_name": "R"
@@ -170,7 +261,13 @@
170261
"$ref": "#/definitions/input_channel",
171262
"default": {
172263
"topic": "/perception/object_recognition/detection/radar/far_objects",
173-
"can_spawn_new_tracker": true,
264+
"flags": {
265+
"can_spawn_new_tracker": true,
266+
"can_trust_existence_probability": true,
267+
"can_trust_extension": false,
268+
"can_trust_classification": true,
269+
"can_trust_orientation": false
270+
},
174271
"optional": {
175272
"name": "radar_far",
176273
"short_name": "Rf"

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