From a10f5cc2e4ce07dfa5e46ab389ca994d7b6a2462 Mon Sep 17 00:00:00 2001 From: vividf Date: Tue, 24 Dec 2024 18:43:56 +0900 Subject: [PATCH 1/8] fix: fix perception docs Signed-off-by: vividf --- .../data_association_matrix.schema.json | 41 +++- .../object_association_merger.schema.json | 9 +- .../schema/overlapped_judge.schema.json | 33 ++- .../README.md | 2 +- ...chronized_grid_map_fusion_node.schema.json | 190 +++++++++--------- 5 files changed, 163 insertions(+), 112 deletions(-) diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json index 68dc977224ba5..4de422c7a719e 100644 --- a/perception/autoware_object_merger/schema/data_association_matrix.schema.json +++ b/perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -2,8 +2,8 @@ "$schema": "http://json-schema.org/draft-07/schema#", "title": "Data Association Matrix Parameters", "type": "object", - "properties": { - "ros__parameters": { + "definitions": { + "data_association_matrix": { "type": "object", "properties": { "can_assign_matrix": { @@ -11,31 +11,52 @@ "items": { "type": "number" }, - "description": "Assignment table for data association" + "description": "Assignment table for data association.", + "default": [] }, "max_dist_matrix": { "type": "array", "items": { "type": "number" }, - "description": "Maximum distance table for data association" + "description": "Maximum distance table for data association.", + "default": [] }, "max_rad_matrix": { "type": "array", "items": { - "type": "number" + "type": "number", + "minimum": 0.0 }, - "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored." + "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored.", + "default": [] }, "min_iou_matrix": { "type": "array", "items": { - "type": "number" + "type": "number", + "minimum": 0.0 }, - "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored." + "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored.", + "default": [] + } + }, + "required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/data_association_matrix" } }, - "required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"] + "required": ["ros__parameters"], + "additionalProperties": false } - } + }, + "required": ["/**"], + "additionalProperties": false } diff --git a/perception/autoware_object_merger/schema/object_association_merger.schema.json b/perception/autoware_object_merger/schema/object_association_merger.schema.json index 11090fab9c7b3..c31cb8866b8cc 100644 --- a/perception/autoware_object_merger/schema/object_association_merger.schema.json +++ b/perception/autoware_object_merger/schema/object_association_merger.schema.json @@ -45,7 +45,8 @@ "remove_overlapped_unknown_objects", "base_link_frame_id", "priority_mode" - ] + ], + "additionalProperties": false } }, "properties": { @@ -56,8 +57,10 @@ "$ref": "#/definitions/object_association_merger" } }, - "required": ["ros__parameters"] + "required": ["ros__parameters"], + "additionalProperties": false } }, - "required": ["/**"] + "required": ["/**"], + "additionalProperties": false } diff --git a/perception/autoware_object_merger/schema/overlapped_judge.schema.json b/perception/autoware_object_merger/schema/overlapped_judge.schema.json index b65464c6201d1..b8ed9f313eb3a 100644 --- a/perception/autoware_object_merger/schema/overlapped_judge.schema.json +++ b/perception/autoware_object_merger/schema/overlapped_judge.schema.json @@ -2,8 +2,8 @@ "$schema": "http://json-schema.org/draft-07/schema#", "title": "Overlapped Judge Parameters", "type": "object", - "properties": { - "ros__parameters": { + "definitions": { + "overlapped_judge": { "type": "object", "properties": { "distance_threshold_list": { @@ -11,17 +11,36 @@ "items": { "type": "number" }, - "description": "Distance threshold for each class used in judging overlap." + "description": "Distance threshold for each class used in judging overlap.", + "default": [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0] }, "generalized_iou_threshold": { "type": "array", "items": { - "type": "number" + "type": "number", + "minimum": -1.0, + "maximum": 1.0 }, - "description": "Generalized IoU threshold for each class." + "description": "Generalized IoU threshold for each class.", + "default": [-0.1, -0.1, -0.1, -0.6, -0.6, -0.1, -0.1, -0.1] + } + }, + "required": ["distance_threshold_list", "generalized_iou_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/overlapped_judge" } }, - "required": ["distance_threshold_list", "generalized_iou_threshold"] + "required": ["ros__parameters"], + "additionalProperties": false } - } + }, + "required": ["/**"], + "additionalProperties": false } diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/README.md b/perception/autoware_occupancy_grid_map_outlier_filter/README.md index 7de2cc1dce92c..b920aa6908946 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/README.md +++ b/perception/autoware_occupancy_grid_map_outlier_filter/README.md @@ -40,7 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g ## Parameters -{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }} +{{ json_to_markdown("perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }} ## Assumptions / Known limits diff --git a/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json index 14f4305f55de8..c73d4c6ad2585 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json +++ b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json @@ -2,104 +2,112 @@ "$schema": "http://json-schema.org/draft-07/schema#", "title": "Parameters for Synchronized Grid Map Fusion Node", "type": "object", + "definitions": { + "synchronized_grid_map_fusion": { + "type": "object", + "properties": { + "fusion_input_ogm_topics": { + "type": "array", + "description": "List of fusion input occupancy grid map topics.", + "items": { + "type": "string" + }, + "default": ["topic1", "topic2"] + }, + "input_ogm_reliabilities": { + "type": "array", + "description": "Reliability of each sensor for fusion.", + "items": { + "type": "number", + "minimum": 0.0, + "maximum": 1.0 + }, + "default": [0.8, 0.2] + }, + "fusion_method": { + "type": "string", + "description": "Method for occupancy grid map fusion.", + "enum": ["overwrite", "log-odds", "dempster-shafer"], + "default": "overwrite" + }, + "match_threshold_sec": { + "type": "number", + "description": "Time threshold for matching in seconds.", + "default": 0.01 + }, + "timeout_sec": { + "type": "number", + "description": "Timeout for synchronization in seconds.", + "default": 0.1 + }, + "input_offset_sec": { + "type": "array", + "description": "Offset for each input in seconds.", + "items": { + "type": "number" + }, + "default": [0.0, 0.0] + }, + "map_frame_": { + "type": "string", + "description": "The frame ID of the map.", + "default": "map" + }, + "base_link_frame_": { + "type": "string", + "description": "The frame ID of the base link.", + "default": "base_link" + }, + "grid_map_origin_frame_": { + "type": "string", + "description": "The frame ID of the grid map origin.", + "default": "base_link" + }, + "fusion_map_length_x": { + "type": "number", + "description": "The length of the fusion map in the x direction.", + "default": 100.0 + }, + "fusion_map_length_y": { + "type": "number", + "description": "The length of the fusion map in the y direction.", + "default": 100.0 + }, + "fusion_map_resolution": { + "type": "number", + "description": "The resolution of the fusion map.", + "default": 0.5 + } + }, + "required": [ + "fusion_input_ogm_topics", + "input_ogm_reliabilities", + "fusion_method", + "match_threshold_sec", + "timeout_sec", + "input_offset_sec", + "map_frame_", + "base_link_frame_", + "grid_map_origin_frame_", + "fusion_map_length_x", + "fusion_map_length_y", + "fusion_map_resolution" + ], + "additionalProperties": false + } + }, "properties": { "/**": { "type": "object", "properties": { "ros__parameters": { - "type": "object", - "properties": { - "fusion_input_ogm_topics": { - "type": "array", - "description": "List of fusion input occupancy grid map topics.", - "items": { - "type": "string" - }, - "default": ["topic1", "topic2"] - }, - "input_ogm_reliabilities": { - "type": "array", - "description": "Reliability of each sensor for fusion.", - "items": { - "type": "number", - "minimum": 0.0, - "maximum": 1.0 - }, - "default": [0.8, 0.2] - }, - "fusion_method": { - "type": "string", - "description": "Method for occupancy grid map fusion.", - "enum": ["overwrite", "log-odds", "dempster-shafer"], - "default": "overwrite" - }, - "match_threshold_sec": { - "type": "number", - "description": "Time threshold for matching in seconds.", - "default": 0.01 - }, - "timeout_sec": { - "type": "number", - "description": "Timeout for synchronization in seconds.", - "default": 0.1 - }, - "input_offset_sec": { - "type": "array", - "description": "Offset for each input in seconds.", - "items": { - "type": "number" - }, - "default": [0.0, 0.0] - }, - "map_frame_": { - "type": "string", - "description": "The frame ID of the map.", - "default": "map" - }, - "base_link_frame_": { - "type": "string", - "description": "The frame ID of the base link.", - "default": "base_link" - }, - "grid_map_origin_frame_": { - "type": "string", - "description": "The frame ID of the grid map origin.", - "default": "base_link" - }, - "fusion_map_length_x": { - "type": "number", - "description": "The length of the fusion map in the x direction.", - "default": 100.0 - }, - "fusion_map_length_y": { - "type": "number", - "description": "The length of the fusion map in the y direction.", - "default": 100.0 - }, - "fusion_map_resolution": { - "type": "number", - "description": "The resolution of the fusion map.", - "default": 0.5 - } - }, - "required": [ - "fusion_input_ogm_topics", - "input_ogm_reliabilities", - "fusion_method", - "match_threshold_sec", - "timeout_sec", - "input_offset_sec", - "map_frame_", - "base_link_frame_", - "grid_map_origin_frame_", - "fusion_map_length_x", - "fusion_map_length_y", - "fusion_map_resolution" - ] + "$ref": "#/definitions/synchronized_grid_map_fusion" } }, - "required": ["ros__parameters"] + "required": ["ros__parameters"], + "additionalProperties": false } }, - "required": ["/**"] + "required": ["/**"], + "additionalProperties": false } From 6b00abdd9235e4f29ffe1b8bbd8cd083aedfb016 Mon Sep 17 00:00:00 2001 From: vividf Date: Tue, 24 Dec 2024 19:02:12 +0900 Subject: [PATCH 2/8] fix: fix missing parameter in schema Signed-off-by: vividf --- .../schema/synchronized_grid_map_fusion_node.schema.json | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json index c73d4c6ad2585..de7c1e194ed42 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json +++ b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json @@ -77,6 +77,11 @@ "type": "number", "description": "The resolution of the fusion map.", "default": 0.5 + }, + "publish_processing_time_detail": { + "type": "boolean", + "description": "True for showing detail of publish processing time.", + "default": false } }, "required": [ @@ -91,7 +96,8 @@ "grid_map_origin_frame_", "fusion_map_length_x", "fusion_map_length_y", - "fusion_map_resolution" + "fusion_map_resolution", + "publish_processing_time_detail" ], "additionalProperties": false } From 890e6cb40092d708e7ee4d4ecf4bafa65f6e1812 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Wed, 25 Dec 2024 13:26:17 +0900 Subject: [PATCH 3/8] Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE --- .../schema/data_association_matrix.schema.json | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json index 4de422c7a719e..762d555daafb5 100644 --- a/perception/autoware_object_merger/schema/data_association_matrix.schema.json +++ b/perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -38,7 +38,12 @@ "minimum": 0.0 }, "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored.", - "default": [] + "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"], From 53be2a04b93ffafe28e9a87fbaf6b2f00b43b322 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Wed, 25 Dec 2024 13:26:23 +0900 Subject: [PATCH 4/8] Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE --- .../schema/data_association_matrix.schema.json | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json index 762d555daafb5..f33cdb04afa42 100644 --- a/perception/autoware_object_merger/schema/data_association_matrix.schema.json +++ b/perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -29,7 +29,13 @@ "minimum": 0.0 }, "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored.", - "default": [] + "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", From c4143f3bb02ebc52a861eadda2aab11ecc148f15 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Wed, 25 Dec 2024 13:26:28 +0900 Subject: [PATCH 5/8] Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE --- .../schema/data_association_matrix.schema.json | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json index f33cdb04afa42..3be08e1e4778e 100644 --- a/perception/autoware_object_merger/schema/data_association_matrix.schema.json +++ b/perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -20,7 +20,12 @@ "type": "number" }, "description": "Maximum distance table for data association.", - "default": [] + "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", From 343982b624c7f532d5a6c5cdb7e90920066cf603 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Wed, 25 Dec 2024 13:26:38 +0900 Subject: [PATCH 6/8] Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE --- .../schema/data_association_matrix.schema.json | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json index 3be08e1e4778e..70397ff4fa2d2 100644 --- a/perception/autoware_object_merger/schema/data_association_matrix.schema.json +++ b/perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -12,7 +12,11 @@ "type": "number" }, "description": "Assignment table for data association.", - "default": [] + "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", From a34bf000ae242945c32d34110fd5b82b5b8471fa Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 25 Dec 2024 04:29:01 +0000 Subject: [PATCH 7/8] style(pre-commit): autofix --- .../schema/data_association_matrix.schema.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json index 70397ff4fa2d2..52f6aa3d8c37c 100644 --- a/perception/autoware_object_merger/schema/data_association_matrix.schema.json +++ b/perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -58,7 +58,7 @@ 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"], From e77c495c0fa52bc5ebef91c21dde45f37688d69b Mon Sep 17 00:00:00 2001 From: vividf Date: Wed, 25 Dec 2024 13:57:22 +0900 Subject: [PATCH 8/8] chore: seperate paramters for different nodes Signed-off-by: vividf --- perception/autoware_object_merger/README.md | 8 +++++ .../README.md | 29 +++++++++++++++---- 2 files changed, 31 insertions(+), 6 deletions(-) diff --git a/perception/autoware_object_merger/README.md b/perception/autoware_object_merger/README.md index c65353efa3a91..a78cd70052707 100644 --- a/perception/autoware_object_merger/README.md +++ b/perception/autoware_object_merger/README.md @@ -25,8 +25,16 @@ The successive shortest path algorithm is used to solve the data association pro ## Parameters +- object association merger + {{ json_to_markdown("perception/autoware_object_merger/schema/object_association_merger.schema.json") }} + +- data association matrix + {{ json_to_markdown("perception/autoware_object_merger/schema/data_association_matrix.schema.json") }} + +- overlapped judge + {{ json_to_markdown("perception/autoware_object_merger/schema/overlapped_judge.schema.json") }} ## Tips diff --git a/perception/autoware_probabilistic_occupancy_grid_map/README.md b/perception/autoware_probabilistic_occupancy_grid_map/README.md index 575411bcbd220..3637dcb10daeb 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/README.md +++ b/perception/autoware_probabilistic_occupancy_grid_map/README.md @@ -21,12 +21,29 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean ### Parameters -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }} +- binary bayes filter updater + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }} + +- grid map + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }} + +- laserscan based occupancy grid map + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }} + +- multi lidar pointcloud based occupancy grid map + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }} + +- pointcloud based occupancy grid map + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }} + +- synchronized grid map fusion + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }} ### Downsample input pointcloud(Optional)