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refactor(multi_object_tracker): rework parameters (autowarefoundation#7333)
* Refractored the parameters, build the schema file, updated the readme file. Signed-off-by: Boyang <tby@udel.edu> * style(pre-commit): autofix --------- Signed-off-by: Boyang <tby@udel.edu> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
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‎perception/multi_object_tracker/README.md

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@@ -65,41 +65,16 @@ Multiple inputs are pre-defined in the input channel parameters (described below
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### Input Channel parameters
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Available input channels are defined in [input_channels.param.yaml](config/input_channels.param.yaml).
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| Name | Type | Description |
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| --------------------------------- | ------------------------------------------------ | ------------------------------------- |
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| `<channel>` | | the name of channel |
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| `<channel>.topic` | `autoware_perception_msgs::msg::DetectedObjects` | detected objects |
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| `<channel>.can_spawn_new_tracker` | `bool` | a switch allow to spawn a new tracker |
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| `<channel>.optional.name` | `std::string` | channel name for analysis |
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| `<channel>.optional.short_name` | `std::string` | short name for visualization |
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{{ json_to_markdown("perception/multi_object_tracker/schema/input_channels.schema.json") }}
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### Core Parameters
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Node parameters are defined in [multi_object_tracker_node.param.yaml](config/multi_object_tracker_node.param.yaml) and association parameters are defined in [data_association_matrix.param.yaml](config/data_association_matrix.param.yaml).
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#### Node parameters
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| Name | Type | Description |
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| --------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------- |
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| `***_tracker` | string | EKF tracker name for each class |
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| `world_frame_id` | double | object kinematics definition frame |
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| `enable_delay_compensation` | bool | if True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp |
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| `publish_rate` | double | Timer frequency to output with delay compensation |
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| `publish_processing_time` | bool | enable to publish debug message of process time information |
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| `publish_tentative_objects` | bool | enable to publish tentative tracked objects, which have lower confidence |
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| `publish_debug_markers` | bool | enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection |
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#### Association parameters
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| Name | Type | Description |
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| ------------------- | ------ | ------------------------------------------- |
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| `can_assign_matrix` | double | Assignment table for data association |
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| `max_dist_matrix` | double | Maximum distance table for data association |
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| `max_area_matrix` | double | Maximum area table for data association |
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| `min_area_matrix` | double | Minimum area table for data association |
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| `max_rad_matrix` | double | Maximum angle table for data association |
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{{ json_to_markdown("perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json") }}
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{{ json_to_markdown("perception/multi_object_tracker/schema/data_association_matrix.schema.json") }}
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#### Simulation parameters
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{{ json_to_markdown("perception/multi_object_tracker/schema/simulation_tracker.schema.json") }}
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## Assumptions / Known limits
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‎perception/multi_object_tracker/schema/data_association_matrix.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Data Association Matrix",
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"type": "object",
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"definitions": {
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"data_association_matrix": {
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"type": "object",
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"properties": {
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"can_assign_matrix": {
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"type": "array",
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"description": "Assignment table for data association.",
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"items": {
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"type": "integer"
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}
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},
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"max_dist_matrix": {
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"type": "array",
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"description": "Maximum distance table for data association.",
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"items": {
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"type": "number"
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}
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},
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"max_area_matrix": {
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"type": "array",
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"description": "Maximum area table for data association.",
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"items": {
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"type": "number"
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}
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},
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"min_area_matrix": {
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"type": "array",
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"description": "Minimum area table for data association.",
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"items": {
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"type": "number"
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}
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},
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"max_rad_matrix": {
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"type": "array",
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"description": "Maximum angle table for data association.",
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"items": {
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"type": "number"
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}
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},
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"min_iou_matrix": {
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"type": "array",
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"description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.",
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"items": {
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"type": "number"
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}
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}
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},
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"required": [
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"can_assign_matrix",
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"max_dist_matrix",
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"max_area_matrix",
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"min_area_matrix",
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"max_rad_matrix",
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"min_iou_matrix"
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]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/data_association_matrix"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/multi_object_tracker/schema/input_channels.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Input Channels",
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"type": "object",
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"definitions": {
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"input_channel": {
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"type": "object",
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"properties": {
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"topic": {
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"type": "string",
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"description": "The ROS topic name for the input channel."
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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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},
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"optional": {
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"type": "object",
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"properties": {
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"name": {
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"type": "string",
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"description": "The name of the input channel."
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},
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"short_name": {
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"type": "string",
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"description": "The short name of the input channel."
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}
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}
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}
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},
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"required": ["topic", "can_spawn_new_tracker"]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"type": "object",
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"properties": {
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"input_channels": {
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"type": "object",
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"properties": {
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"detected_objects": { "$ref": "#/definitions/input_channel" },
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"lidar_clustering": { "$ref": "#/definitions/input_channel" },
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"lidar_centerpoint": { "$ref": "#/definitions/input_channel" },
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"lidar_centerpoint_validated": { "$ref": "#/definitions/input_channel" },
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"lidar_apollo": { "$ref": "#/definitions/input_channel" },
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"lidar_apollo_validated": { "$ref": "#/definitions/input_channel" },
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"lidar_pointpainitng": { "$ref": "#/definitions/input_channel" },
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"lidar_pointpainting_validated": { "$ref": "#/definitions/input_channel" },
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"camera_lidar_fusion": { "$ref": "#/definitions/input_channel" },
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"detection_by_tracker": { "$ref": "#/definitions/input_channel" },
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"radar": { "$ref": "#/definitions/input_channel" },
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"radar_far": { "$ref": "#/definitions/input_channel" }
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},
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"required": [
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"detected_objects",
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"lidar_clustering",
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"lidar_centerpoint",
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"lidar_centerpoint_validated",
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"lidar_apollo",
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"lidar_apollo_validated",
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"lidar_pointpainitng",
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"lidar_pointpainting_validated",
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"camera_lidar_fusion",
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"detection_by_tracker",
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"radar",
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"radar_far"
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]
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}
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},
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"required": ["input_channels"]
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Multi Object Tracker Node",
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"type": "object",
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"definitions": {
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"multi_object_tracker_node": {
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"type": "object",
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"properties": {
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"car_tracker": {
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"type": "string",
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"description": "Tracker model for car class.",
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"default": "multi_vehicle_tracker"
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},
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"truck_tracker": {
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"type": "string",
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"description": "Tracker model for truck class.",
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"default": "multi_vehicle_tracker"
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},
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"bus_tracker": {
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"type": "string",
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"description": "Tracker model for bus class.",
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"default": "multi_vehicle_tracker"
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},
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"trailer_tracker": {
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"type": "string",
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"description": "Tracker model for trailer class.",
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"default": "multi_vehicle_tracker"
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},
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"pedestrian_tracker": {
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"type": "string",
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"description": "Tracker model for pedestrian class.",
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"default": "pedestrian_and_bicycle_tracker"
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},
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"bicycle_tracker": {
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"type": "string",
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"description": "Tracker model for bicycle class.",
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"default": "pedestrian_and_bicycle_tracker"
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},
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"motorcycle_tracker": {
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"type": "string",
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"description": "Tracker model for motorcycle class.",
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"default": "pedestrian_and_bicycle_tracker"
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},
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"publish_rate": {
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"type": "number",
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"description": "Timer frequency to output with delay compensation.",
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"default": 10.0
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},
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"world_frame_id": {
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"type": "string",
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"description": "Object kinematics definition frame.",
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"default": "map"
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},
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"enable_delay_compensation": {
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"type": "boolean",
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"description": "If True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp.",
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"default": false
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},
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"publish_processing_time": {
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"type": "boolean",
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"description": "Enable to publish debug message of process time information.",
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"default": false
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},
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"publish_tentative_objects": {
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"type": "boolean",
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"description": "Enable to publish tentative tracked objects, which have lower confidence.",
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"default": false
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},
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"publish_debug_markers": {
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"type": "boolean",
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"description": "Enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection.",
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"default": false
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},
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"diagnostics_warn_delay": {
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"type": "number",
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"description": "Delay threshold for warning diagnostics in seconds.",
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"default": 0.5
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},
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"diagnostics_error_delay": {
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"type": "number",
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"description": "Delay threshold for error diagnostics in seconds.",
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"default": 1.0
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}
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},
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"required": [
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"car_tracker",
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"truck_tracker",
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"bus_tracker",
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"trailer_tracker",
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"pedestrian_tracker",
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"bicycle_tracker",
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"motorcycle_tracker",
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"publish_rate",
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"world_frame_id",
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"enable_delay_compensation",
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"publish_processing_time",
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"publish_tentative_objects",
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"publish_debug_markers",
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"diagnostics_warn_delay",
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"diagnostics_error_delay"
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]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/multi_object_tracker_node"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/multi_object_tracker/schema/simulation_tracker.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Simulation Tracker Node",
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"type": "object",
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"definitions": {
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"simulation_tracker_node": {
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"type": "object",
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"properties": {
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"car_tracker": {
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"type": "string",
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"description": "Tracker model for car class.",
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"default": "pass_through_tracker"
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},
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"truck_tracker": {
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"type": "string",
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"description": "Tracker model for truck class.",
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"default": "pass_through_tracker"
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},
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"bus_tracker": {
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"type": "string",
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"description": "Tracker model for bus class.",
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"default": "pass_through_tracker"
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},
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"pedestrian_tracker": {
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"type": "string",
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"description": "Tracker model for pedestrian class.",
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"default": "pass_through_tracker"
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},
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"bicycle_tracker": {
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"type": "string",
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"description": "Tracker model for bicycle class.",
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"default": "pass_through_tracker"
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},
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"motorcycle_tracker": {
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"type": "string",
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"description": "Tracker model for motorcycle class.",
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"default": "pass_through_tracker"
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}
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},
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"required": [
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"car_tracker",
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"truck_tracker",
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"bus_tracker",
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"pedestrian_tracker",
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"bicycle_tracker",
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"motorcycle_tracker"
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]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/simulation_tracker_node"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

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