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feat(autoware_pointcloud_preprocessor): update the readme file and schema file #10193

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feat(autoware_pointcloud_preprocessor): update the readme file and schema file #10193

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dd7cab9
feat(autoware_pointcloud_preprocessor): update the readme file and sc…
vish0012 Feb 25, 2025
2d6b2ec
style(pre-commit): autofix
pre-commit-ci[bot] Feb 25, 2025
7783e98
fix: updated README and schema for autoware_pointcloud_preprocessor
vish0012 Feb 25, 2025
4966257
Added missing schema file for occupancy grid map outlier filter
vish0012 Feb 27, 2025
20a4667
Added and updated sensing schema files
vish0012 Mar 4, 2025
0b84cd1
Merge branch 'main' into add-schema-autoware_pointcloud_preprocessor
vish0012 Mar 4, 2025
cd14b24
style(pre-commit): autofix
pre-commit-ci[bot] Mar 4, 2025
d91ee0a
Update blockage_diag_node.schema.json
vish0012 Mar 8, 2025
0323733
Added schema updates as per comments for pointcloud preprocessor
vish0012 Mar 19, 2025
fa9e7e8
style(pre-commit): autofix
pre-commit-ci[bot] Mar 19, 2025
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6 changes: 3 additions & 3 deletions ...re_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for occupancy_grid_map_outlier",
"title": "autoware_occupancy_grid_map_outlier_filter parameters",
"type": "object",
"definitions": {
"occupancy_grid_map_outlier": {
"occupancy_grid_map_outlier_filter": {
"type": "object",
"properties": {
"radius_search_2d_filter.search_radius": {
Expand Down Expand Up @@ -76,7 +76,7 @@
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/occupancy_grid_map_outlier"
"$ref": "#/definitions/occupancy_grid_map_outlier_filter"
}
},
"required": ["ros__parameters"]
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27 changes: 17 additions & 10 deletions sensing/autoware_pointcloud_preprocessor/README.md
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Expand Up @@ -43,16 +43,23 @@ Detail description of each filter's algorithm is in the following links.

## Parameters

### Node Parameters

| Name | Type | Default Value | Description |
| ------------------ | ------ | ------------- | ------------------------------------- |
| `input_frame` | string | " " | input frame id |
| `output_frame` | string | " " | output frame id |
| `max_queue_size` | int | 5 | max queue size of input/output topics |
| `use_indices` | bool | false | flag to use pointcloud indices |
| `latched_indices` | bool | false | flag to latch pointcloud indices |
| `approximate_sync` | bool | false | flag to use approximate sync option |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/approximate_downsample_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_Filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_downsample_filter_node.schema.json") }}
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json") }}
Comment on lines +46 to +62
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As the linked pages (lines 19-27) already contain parameter tables, the parameters section can be removed entirely.

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Thank you for addressing the other changes. This conversation here has been closed without being addressed, so I reopened it. All those JSON tables are already found in the pages linked in README.md, so there is no particular value in adding them here as well. Also, there's still rendering errors: https://autowarefoundation.github.io/autoware_universe/pr-10193/sensing/autoware_pointcloud_preprocessor/

Please address those first before re-requesting a review, thank you 🙏


## Assumptions / Known limits

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6 changes: 3 additions & 3 deletions sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json
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Expand Up @@ -34,12 +34,12 @@
"enable_dust_diag": {
"type": "boolean",
"description": "enable dust diagnostic",
"default": "false"
"default": false
},
"publish_debug_image": {
"type": "boolean",
"description": "publish debug image",
"default": "false"
"default": false
},
"dust_ratio_threshold": {
"type": "number",
Expand Down Expand Up @@ -111,7 +111,7 @@
"is_channel_order_top2down": {
"type": "boolean",
"description": "If the lidar channels are indexed from top to down",
"default": "true"
"default": true
},
"horizontal_ring_id": {
"type": "integer",
Expand Down
8 changes: 4 additions & 4 deletions sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json
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Expand Up @@ -9,13 +9,13 @@
"filter_limit_min": {
"type": "integer",
"description": "minimum allowed field value",
"default": "0",
"default": 0,
"minimum": 0
},
"filter_limit_max": {
"type": "integer",
"description": "maximum allowed field value",
"default": "127",
"default": 127,
"minimum": 0
},
"filter_field_name": {
Expand All @@ -26,12 +26,12 @@
"keep_organized": {
"type": "boolean",
"description": "flag to keep indices structure",
"default": "false"
"default": false
},
"filter_limit_negative": {
"type": "boolean",
"description": "flag to return whether the data is inside limit or not",
"default": "false"
"default": false
}
},
"required": [
Expand Down
6 changes: 3 additions & 3 deletions ...pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
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Expand Up @@ -9,19 +9,19 @@
"voxel_size_x": {
"type": "number",
"description": "voxel size along the x-axis [m]",
"default": "1.0",
"default": 1.0,
"exclusiveMinimum": 0.0
},
"voxel_size_y": {
"type": "number",
"description": "voxel size along the y-axis [m]",
"default": "1.0",
"default": 1.0,
"exclusiveMinimum": 0.0
},
"voxel_size_z": {
"type": "number",
"description": "voxel size along the z-axis [m]",
"default": "1.0",
"default": 1.0,
"exclusiveMinimum": 0.0
}
},
Expand Down
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