data_association_matrix.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Data Association Matrix Parameters",
  "type": "object",
  "definitions": {
    "data_association_matrix": {
      "type": "object",
      "properties": {
        "can_assign_matrix": {
          "type": "array",
          "items": {
            "type": "number"
          },
          "description": "Assignment table for data association.",
          "default": [
            0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1,
            0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0,
            0, 0, 0, 1, 1, 1
          ]
        },
        "max_dist_matrix": {
          "type": "array",
          "items": {
            "type": "number"
          },
          "description": "Maximum distance table for data association.",
          "default": [
            4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0,
            5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, 5.0,
            5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, 2.0, 1.0, 1.0,
            1.0, 1.0, 3.0, 3.0, 3.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0
          ]
        },
        "max_rad_matrix": {
          "type": "array",
          "items": {
            "type": "number",
            "minimum": 0.0
          },
          "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored.",
          "default": [
            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,
            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,
            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,
            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,
            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15
          ]
        },
        "min_iou_matrix": {
          "type": "array",
          "items": {
            "type": "number",
            "minimum": 0.0
          },
          "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored.",
          "default": [
            0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.3, 0.2, 0.2, 0.2, 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, 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, 0.1, 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, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1
          ]
        }
      },
      "required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"],
      "additionalProperties": false
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/data_association_matrix"
        }
      },
      "required": ["ros__parameters"],
      "additionalProperties": false
    }
  },
  "required": ["/**"],
  "additionalProperties": false
}