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feat(autoware_euclidean_cluster): Created the schema file, updated the readme file and deleted the default parameter in node files code #10085

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feat(autoware_euclidean_cluster): Created the schema file, updated the readme file and deleted the default parameter in node files code #10085

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feat(autoware_euclidean_cluster): Created the schema file, updated th…
vish0012 Feb 10, 2025
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style(pre-commit): autofix
pre-commit-ci[bot] Feb 10, 2025
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16 changes: 2 additions & 14 deletions perception/autoware_euclidean_cluster/README.md
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Expand Up @@ -39,23 +39,11 @@ This package has two clustering methods: `euclidean_cluster` and `voxel_grid_bas

#### euclidean_cluster

| Name | Type | Description |
| ------------------ | ----- | -------------------------------------------------------------------------------------------- |
| `use_height` | bool | use point.z for clustering |
| `min_cluster_size` | int | the minimum number of points that a cluster needs to contain in order to be considered valid |
| `max_cluster_size` | int | the maximum number of points that a cluster needs to contain in order to be considered valid |
| `tolerance` | float | the spatial cluster tolerance as a measure in the L2 Euclidean space |
{{ json_to_markdown("perception/autoware_euclidean_cluster/schema/euclidean_cluster.schema.json") }}

#### voxel_grid_based_euclidean_cluster

| Name | Type | Description |
| ----------------------------- | ----- | -------------------------------------------------------------------------------------------- |
| `use_height` | bool | use point.z for clustering |
| `min_cluster_size` | int | the minimum number of points that a cluster needs to contain in order to be considered valid |
| `max_cluster_size` | int | the maximum number of points that a cluster needs to contain in order to be considered valid |
| `tolerance` | float | the spatial cluster tolerance as a measure in the L2 Euclidean space |
| `voxel_leaf_size` | float | the voxel leaf size of x and y |
| `min_points_number_per_voxel` | int | the minimum number of points for a voxel |
{{ json_to_markdown("perception/autoware_euclidean_cluster/schema/voxel_grid_based_euclidean_cluster.schema.json") }}

## Assumptions / Known limits

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48 changes: 48 additions & 0 deletions perception/autoware_euclidean_cluster/schema/euclidean_cluster.schema.json
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@@ -0,0 +1,48 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_eucidean Parameters",
"type": "object",
"definitions": {
"euclidean_cluster": {
"type": "object",
"properties": {
"max_cluster_size": {
"type": "integer",
"description": "The maximum number of points that a cluster needs to contain in order to be considered valid.",
"default": 1000
},
"min_cluster_size": {
"type": "integer",
"description": "The minimum number of points that a cluster needs to contain in order to be considered valid.",
"default": 10
},
"tolerance": {
"type": "number",
"description": "The spatial cluster tolerance as a measure in the L2 Euclidean space.",
"default": 0.7
},
"use_height": {
"type": "boolean",
"description": "Whether to use point.z for clustering.",
"default": false
}
},
"required": ["max_cluster_size", "min_cluster_size", "tolerance", "use_height"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/euclidean_cluster"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
113 changes: 113 additions & 0 deletions perception/autoware_euclidean_cluster/schema/voxel_grid_based_euclidean_cluster.schema.json
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@@ -0,0 +1,113 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_euclidean_cluster Parameters",
"type": "object",
"definitions": {
"voxel_grid_based_euclidean_cluster": {
"type": "object",
"properties": {
"tolerance": {
"type": "number",
"description": "The spatial cluster tolerance as a measure in the L2 Euclidean space.",
"default": 0.7
},
"voxel_leaf_size": {
"type": "number",
"description": "The voxel leaf size of x and y.",
"default": 0.3
},
"min_points_number_per_voxel": {
"type": "integer",
"description": "The minimum number of points required per voxel.",
"default": 1
},
"min_cluster_size": {
"type": "integer",
"description": "The minimum number of points that a cluster needs to contain in order to be considered valid.",
"default": 10
},
"max_cluster_size": {
"type": "integer",
"description": "The maximum number of points that a cluster needs to contain in order to be considered valid.",
"default": 3000
},
"use_height": {
"type": "boolean",
"description": "Use point.z for clustering.",
"default": false
},
"input_frame": {
"type": "string",
"description": "The reference frame for input data processing.",
"default": "base_link"
},
"max_x": {
"type": "number",
"description": "Maximum X coordinate for the low height crop box filter.",
"default": 200.0
},
"min_x": {
"type": "number",
"description": "Minimum X coordinate for the low height crop box filter.",
"default": -200.0
},
"max_y": {
"type": "number",
"description": "Maximum Y coordinate for the low height crop box filter.",
"default": 200.0
},
"min_y": {
"type": "number",
"description": "Minimum Y coordinate for the low height crop box filter.",
"default": -200.0
},
"max_z": {
"type": "number",
"description": "Maximum Z coordinate for the low height crop box filter.",
"default": 2.0
},
"min_z": {
"type": "number",
"description": "Minimum Z coordinate for the low height crop box filter.",
"default": -10.0
},
"negative": {
"type": "boolean",
"description": "Whether to invert the crop box filtering effect.",
"default": false
}
},
"required": [
"tolerance",
"voxel_leaf_size",
"min_points_number_per_voxel",
"min_cluster_size",
"max_cluster_size",
"use_height",
"input_frame",
"max_x",
"min_x",
"max_y",
"min_y",
"max_z",
"min_z",
"negative"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/voxel_grid_based_euclidean_cluster"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
8 changes: 4 additions & 4 deletions perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp
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Expand Up @@ -24,10 +24,10 @@ namespace autoware::euclidean_cluster
EuclideanClusterNode::EuclideanClusterNode(const rclcpp::NodeOptions & options)
: Node("euclidean_cluster_node", options)
{
const bool use_height = this->declare_parameter("use_height", false);
const int min_cluster_size = this->declare_parameter("min_cluster_size", 3);
const int max_cluster_size = this->declare_parameter("max_cluster_size", 200);
const float tolerance = this->declare_parameter("tolerance", 1.0);
const bool use_height = this->declare_parameter("use_height");
const int min_cluster_size = this->declare_parameter("min_cluster_size");
const int max_cluster_size = this->declare_parameter("max_cluster_size");
const float tolerance = this->declare_parameter("tolerance");
cluster_ =
std::make_shared<EuclideanCluster>(use_height, min_cluster_size, max_cluster_size, tolerance);

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12 changes: 6 additions & 6 deletions perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
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Expand Up @@ -25,12 +25,12 @@ VoxelGridBasedEuclideanClusterNode::VoxelGridBasedEuclideanClusterNode(
const rclcpp::NodeOptions & options)
: Node("voxel_grid_based_euclidean_cluster_node", options)
{
const bool use_height = this->declare_parameter("use_height", false);
const int min_cluster_size = this->declare_parameter("min_cluster_size", 1);
const int max_cluster_size = this->declare_parameter("max_cluster_size", 500);
const float tolerance = this->declare_parameter("tolerance", 1.0);
const float voxel_leaf_size = this->declare_parameter("voxel_leaf_size", 0.5);
const int min_points_number_per_voxel = this->declare_parameter("min_points_number_per_voxel", 3);
const bool use_height = this->declare_parameter("use_height");
const int min_cluster_size = this->declare_parameter("min_cluster_size");
const int max_cluster_size = this->declare_parameter("max_cluster_size");
const float tolerance = this->declare_parameter("tolerance");
const float voxel_leaf_size = this->declare_parameter("voxel_leaf_size");
const int min_points_number_per_voxel = this->declare_parameter("min_points_number_per_voxel");
cluster_ = std::make_shared<VoxelGridBasedEuclideanCluster>(
use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size,
min_points_number_per_voxel);
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