refactor(detected_object_validation): rework parameters

perception/autoware_detected_object_validation/README.md

@@ -10,3 +10,21 @@ The purpose of this package is to eliminate obvious false positives of DetectedO
 - [Occupancy grid based validator](occupancy-grid-based-validator.md)
 - [Object lanelet filter](object-lanelet-filter.md)
 - [Object position filter](object-position-filter.md)
+
+### Node Parameters
+
+#### object_lanelet_filter
+
+{{ json_to_markdown("perception/autoware_detected_object_validation/schema/object_lanelet_filter.schema.json") }}
+
+#### object_position_filter
+
+{{ json_to_markdown("perception/autoware_detected_object_validation/schema/object_position_filter.schema.json") }}
+
+#### obstacle_pointcloud_based_validator
+
+{{ json_to_markdown("perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json") }}
+
+#### occupancy_grid_based_validator
+
+{{ json_to_markdown("perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json") }}

perception/autoware_detected_object_validation/config/occupancy_grid_based_validator.param.yaml

@@ -1,3 +1,4 @@
 /**:
   ros__parameters:
+    mean_threshold: 0.6
     enable_debug: false

perception/autoware_detected_object_validation/schema/object_lanelet_filter.schema.json

@@ -0,0 +1,121 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Object Lanelet Filter",
+  "type": "object",
+  "definitions": {
+    "object_lanelet_filter": {
+      "type": "object",
+      "properties": {
+        "filter_target_label": {
+          "type": "object",
+          "properties": {
+            "UNKNOWN": {
+              "type": "boolean",
+              "default": true,
+              "description": "If true, unknown objects are filtered."
+            },
+            "CAR": {
+              "type": "boolean",
+              "default": false,
+              "description": "If true, car objects are filtered."
+            },
+            "TRUCK": {
+              "type": "boolean",
+              "default": false,
+              "description": "If true, truck objects are filtered."
+            },
+            "BUS": {
+              "type": "boolean",
+              "default": false,
+              "description": "If true, bus objects are filtered."
+            },
+            "TRAILER": {
+              "type": "boolean",
+              "default": false,
+              "description": "If true, trailer objects are filtered."
+            },
+            "MOTORCYCLE": {
+              "type": "boolean",
+              "default": false,
+              "description": "If true, motorcycle objects are filtered."
+            },
+            "BICYCLE": {
+              "type": "boolean",
+              "default": false,
+              "description": "If true, bicycle objects are filtered."
+            },
+            "PEDESTRIAN": {
+              "type": "boolean",
+              "default": false,
+              "description": "If true, pedestrian objects are filtered."
+            }
+          },
+          "required": [
+            "UNKNOWN",
+            "CAR",
+            "TRUCK",
+            "BUS",
+            "TRAILER",
+            "MOTORCYCLE",
+            "BICYCLE",
+            "PEDESTRIAN"
+          ]
+        },
+        "filter_settings": {
+          "type": "object",
+          "properties": {
+            "polygon_overlap_filter": {
+              "type": "object",
+              "properties": {
+                "enabled": {
+                  "type": "boolean",
+                  "default": true,
+                  "description": "If true, objects that are not in the lanelet polygon are filtered."
+                }
+              },
+              "required": ["enabled"]
+            },
+            "lanelet_direction_filter": {
+              "type": "object",
+              "properties": {
+                "enabled": {
+                  "type": "boolean",
+                  "default": false,
+                  "description": "If true, objects that are not in the same direction as the lanelet are filtered."
+                },
+                "velocity_yaw_threshold": {
+                  "type": "number",
+                  "default": 0.785398,
+                  "description": "If the yaw difference between the object and the lanelet is greater than this value, the object is filtered."
+                },
+                "object_speed_threshold": {
+                  "type": "number",
+                  "default": 3.0,
+                  "description": "If the object speed is greater than this value, the object is filtered."
+                }
+              },
+              "required": ["enabled", "velocity_yaw_threshold", "object_speed_threshold"]
+            }
+          },
+          "required": ["polygon_overlap_filter", "lanelet_direction_filter"]
+        }
+      },
+      "required": ["filter_target_label", "filter_settings"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/object_lanelet_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_detected_object_validation/schema/object_position_filter.schema.json

@@ -0,0 +1,106 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Object Position Filter",
+  "type": "object",
+  "definitions": {
+    "object_position_filter_params": {
+      "type": "object",
+      "properties": {
+        "filter_target_label": {
+          "type": "object",
+          "properties": {
+            "UNKNOWN": {
+              "type": "boolean",
+              "default": true,
+              "description": "Filter for UNKNOWN label"
+            },
+            "CAR": {
+              "type": "boolean",
+              "default": false,
+              "description": "Filter for CAR label"
+            },
+            "TRUCK": {
+              "type": "boolean",
+              "default": false,
+              "description": "Filter for TRUCK label"
+            },
+            "BUS": {
+              "type": "boolean",
+              "default": false,
+              "description": "Filter for BUS label"
+            },
+            "TRAILER": {
+              "type": "boolean",
+              "default": false,
+              "description": "Filter for TRAILER label"
+            },
+            "MOTORCYCLE": {
+              "type": "boolean",
+              "default": false,
+              "description": "Filter for MOTORCYCLE label"
+            },
+            "BICYCLE": {
+              "type": "boolean",
+              "default": false,
+              "description": "Filter for BICYCLE label"
+            },
+            "PEDESTRIAN": {
+              "type": "boolean",
+              "default": false,
+              "description": "Filter for PEDESTRIAN label"
+            }
+          },
+          "required": [
+            "UNKNOWN",
+            "CAR",
+            "TRUCK",
+            "BUS",
+            "TRAILER",
+            "MOTORCYCLE",
+            "BICYCLE",
+            "PEDESTRIAN"
+          ]
+        },
+        "upper_bound_x": {
+          "type": "number",
+          "default": 100.0,
+          "description": "Upper bound for X coordinate"
+        },
+        "lower_bound_x": {
+          "type": "number",
+          "default": 0.0,
+          "description": "Lower bound for X coordinate"
+        },
+        "upper_bound_y": {
+          "type": "number",
+          "default": 10.0,
+          "description": "Upper bound for Y coordinate"
+        },
+        "lower_bound_y": {
+          "type": "number",
+          "default": -10.0,
+          "description": "Lower bound for Y coordinate"
+        }
+      },
+      "required": [
+        "filter_target_label",
+        "upper_bound_x",
+        "lower_bound_x",
+        "upper_bound_y",
+        "lower_bound_y"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/object_position_filter_params"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json

@@ -0,0 +1,68 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Obstacle Pointcloud Based Validator",
+  "type": "object",
+  "definitions": {
+    "obstacle_pointcloud_based_validator": {
+      "type": "object",
+      "properties": {
+        "min_points_num": {
+          "type": "array",
+          "items": {
+            "type": "integer"
+          },
+          "default": [10, 10, 10, 10, 10, 10, 10, 10],
+          "description": "The minimum number of obstacle point clouds in DetectedObjects"
+        },
+        "max_points_num": {
+          "type": "array",
+          "items": {
+            "type": "integer"
+          },
+          "default": [10, 10, 10, 10, 10, 10, 10, 10],
+          "description": "The max number of obstacle point clouds in DetectedObjects"
+        },
+        "min_points_and_distance_ratio": {
+          "type": "array",
+          "items": {
+            "type": "number"
+          },
+          "default": [800, 800, 800, 800, 800, 800, 800, 800],
+          "description": "Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink."
+        },
+        "using_2d_validator": {
+          "type": "boolean",
+          "default": false,
+          "description": "The xy-plane projected (2D) obstacle point clouds will be used for validation"
+        },
+        "enable_debugger": {
+          "type": "boolean",
+          "default": false,
+          "description": "Whether to create debug topics or not?"
+        }
+      },
+      "required": [
+        "min_points_num",
+        "max_points_num",
+        "min_points_and_distance_ratio",
+        "using_2d_validator",
+        "enable_debugger"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/obstacle_pointcloud_based_validator"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json

@@ -0,0 +1,38 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Occupancy Grid Based Validator",
+  "type": "object",
+  "definitions": {
+    "occupancy_grid_based_validator": {
+      "type": "object",
+      "properties": {
+        "mean_threshold": {
+          "type": "number",
+          "default": 0.6,
+          "description": "The percentage threshold of allowed non-freespace."
+        },
+        "enable_debug": {
+          "type": "boolean",
+          "default": false,
+          "description": "Whether to display debug images or not?"
+        }
+      },
+      "required": ["mean_threshold", "enable_debug"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/occupancy_grid_based_validator"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp

@@ -42,14 +42,14 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod
   using std::placeholders::_1;
 
   // Set parameters
-  filter_target_.UNKNOWN = declare_parameter<bool>("filter_target_label.UNKNOWN", false);
-  filter_target_.CAR = declare_parameter<bool>("filter_target_label.CAR", false);
-  filter_target_.TRUCK = declare_parameter<bool>("filter_target_label.TRUCK", false);
-  filter_target_.BUS = declare_parameter<bool>("filter_target_label.BUS", false);
-  filter_target_.TRAILER = declare_parameter<bool>("filter_target_label.TRAILER", false);
-  filter_target_.MOTORCYCLE = declare_parameter<bool>("filter_target_label.MOTORCYCLE", false);
-  filter_target_.BICYCLE = declare_parameter<bool>("filter_target_label.BICYCLE", false);
-  filter_target_.PEDESTRIAN = declare_parameter<bool>("filter_target_label.PEDESTRIAN", false);
+  filter_target_.UNKNOWN = declare_parameter<bool>("filter_target_label.UNKNOWN");
+  filter_target_.CAR = declare_parameter<bool>("filter_target_label.CAR");
+  filter_target_.TRUCK = declare_parameter<bool>("filter_target_label.TRUCK");
+  filter_target_.BUS = declare_parameter<bool>("filter_target_label.BUS");
+  filter_target_.TRAILER = declare_parameter<bool>("filter_target_label.TRAILER");
+  filter_target_.MOTORCYCLE = declare_parameter<bool>("filter_target_label.MOTORCYCLE");
+  filter_target_.BICYCLE = declare_parameter<bool>("filter_target_label.BICYCLE");
+  filter_target_.PEDESTRIAN = declare_parameter<bool>("filter_target_label.PEDESTRIAN");
   // Set filter settings
   filter_settings_.polygon_overlap_filter =
     declare_parameter<bool>("filter_settings.polygon_overlap_filter.enabled");

perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp

@@ -310,7 +310,7 @@
   debug_publisher_ = std::make_unique<autoware::universe_utils::DebugPublisher>(
     this, "obstacle_pointcloud_based_validator");
 
-  const bool enable_debugger = declare_parameter<bool>("enable_debugger", false);
+  const bool enable_debugger = declare_parameter<bool>("enable_debugger");
   if (enable_debugger) debugger_ = std::make_shared<Debugger>(this);
   published_time_publisher_ =
     std::make_unique<autoware::universe_utils::PublishedTimePublisher>(this);