From 23af119b96f4b214a913cce384af6174a9e21675 Mon Sep 17 00:00:00 2001
From: prakash-kannaiah <prakashkanan.pk@gmail.com>
Date: Mon, 30 Sep 2024 12:25:31 +0530
Subject: [PATCH] refactor/ground_segmentation

Signed-off-by: prakash-kannaiah <prakashkanan.pk@gmail.com>
---
 .../autoware_ground_segmentation/README.md    |  12 ++
 .../schema/ground_segmentation.schema.json    | 131 ++++++++++++++++++
 .../schema/ransac_ground_filter.schema.json   | 107 ++++++++++++++
 .../schema/ray_ground_filter.schema.json      | 108 +++++++++++++++
 .../schema/scan_ground_filter.schema.json     | 131 ++++++++++++++++++
 5 files changed, 489 insertions(+)
 create mode 100644 perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json
 create mode 100644 perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json
 create mode 100644 perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json
 create mode 100644 perception/autoware_ground_segmentation/schema/scan_ground_filter.schema.json

diff --git a/perception/autoware_ground_segmentation/README.md b/perception/autoware_ground_segmentation/README.md
index 08b8a4f373bcc..6f81b0174c876 100644
--- a/perception/autoware_ground_segmentation/README.md
+++ b/perception/autoware_ground_segmentation/README.md
@@ -43,6 +43,18 @@ Detail description of each ground segmentation algorithm is in the following lin
 | `latched_indices`    | bool   | false         | flag to latch pointcloud indices      |
 | `approximate_sync`   | bool   | false         | flag to use approximate sync option   |
 
+### Ground Segmentation
+{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json") }}
+
+### RANSAC Ground Filter
+{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json") }}
+
+### Ray Ground Filter
+{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json") }}
+
+### Scan Ground Filter
+{{ json_to_markdown("perception/autoware_ground_segmentation/schema/scan_ground_filter.schema.json") }}
+
 ## Assumptions / Known limits
 
 `autoware::pointcloud_preprocessor::Filter` is implemented based on pcl_perception [1] because of [this issue](https://github.com/ros-perception/perception_pcl/issues/9).
diff --git a/perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json b/perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json
new file mode 100644
index 0000000000000..8fa6bf0303e3b
--- /dev/null
+++ b/perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json
@@ -0,0 +1,131 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "Ground Segmentation Node Params",
+    "type": "object",
+    "definitions": {
+      "ground_segmentation": {
+        "type": "object",
+        "properties": {
+          "global_slope_max_angle_deg": {
+            "type": "number",
+            "description": "global_slope_max_angle_deg",
+            "default": 10.0
+          },
+          "local_slope_max_angle_deg": {
+            "type": "number",
+            "description": "local_slope_max_angle_deg",
+            "default": 13.0
+          },
+          "split_points_distance_tolerance": {
+            "type": "number",
+            "description": "split_points_distance_tolerance",
+            "default": 0.2
+          },
+          "use_virtual_ground_point": {
+            "type": "boolean",
+            "description": "use_virtual_ground_point",
+            "default": true
+          },
+          "split_height_distance": {
+            "type": "number",
+            "description": "split_height_distance",
+            "default": 0.2
+          },
+          "non_ground_height_threshold": {
+            "type": "number",
+            "description": "non_ground_height_threshold",
+            "default": 0.20
+          },
+          "grid_size_m": {
+            "type": "number",
+            "description": "grid_size_m",
+            "default": 0.1
+          },
+          "grid_mode_switch_radius": {
+            "type": "number",
+            "description": "grid_mode_switch_radius",
+            "default": 20.0
+          },
+          "gnd_grid_buffer_size": {
+            "type": "integer",
+            "description": "gnd_grid_buffer_size",
+            "default": 4
+          },
+          "detection_range_z_max": {
+            "type": "number",
+            "description": "detection_range_z_max",
+            "default": 2.5
+          },
+          "elevation_grid_mode": {
+            "type": "boolean",
+            "description": "elevation_grid_mode",
+            "default": true
+          },
+          "low_priority_region_x": {
+            "type": "number",
+            "description": "low_priority_region_x",
+            "default": -20.0
+          },
+          "center_pcl_shift": {
+            "type": "number",
+            "description": "center_pcl_shift",
+            "default": 0.0
+          },
+          "radial_divider_angle_deg": {
+            "type": "number",
+            "description": "radial_divider_angle_deg",
+            "default": 1.0
+          },
+          "use_recheck_ground_cluster": {
+            "type": "boolean",
+            "description": "use_recheck_ground_cluster",
+            "default": true
+          },
+          "use_lowest_point": {
+            "type": "boolean",
+            "description": "use_lowest_point",
+            "default": true
+          },
+          "publish_processing_time_detail": {
+            "type": "boolean",
+            "description": "publish_processing_time_detail",
+            "default": false
+          }
+        },
+        "required": [
+          "global_slope_max_angle_deg",
+          "local_slope_max_angle_deg",
+          "split_points_distance_tolerance",
+          "use_virtual_ground_point",
+          "split_height_distance",
+          "non_ground_height_threshold",
+          "grid_size_m",
+          "grid_mode_switch_radius",
+          "gnd_grid_buffer_size",
+          "detection_range_z_max",
+          "elevation_grid_mode",
+          "low_priority_region_x",
+          "center_pcl_shift",
+          "radial_divider_angle_deg",
+          "use_recheck_ground_cluster",
+          "use_lowest_point",
+          "publish_processing_time_detail"
+        ],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/ground_segmentation"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+}  
\ No newline at end of file
diff --git a/perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json b/perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json
new file mode 100644
index 0000000000000..d0ebe1d10b463
--- /dev/null
+++ b/perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json
@@ -0,0 +1,107 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "RANSAC Ground Filter Node Params",
+    "type": "object",
+    "definitions": {
+      "ransac_ground_filter": {
+        "type": "object",
+        "properties": {
+          "base_frame": {
+            "type": "string",
+            "description": "base_frame",
+            "default": "base_link"
+          },
+          "unit_axis": {
+            "type": "string",
+            "description": "unit_axis",
+            "default": "z"
+          },
+          "max_iterations": {
+            "type": "integer",
+            "description": "max_iterations",
+            "default": 1000
+          },
+          "min_trial": {
+            "type": "integer",
+            "description": "min_trial",
+            "default": 5000
+          },
+          "min_points": {
+            "type": "integer",
+            "description": "min_points",
+            "default": 1000
+          },
+          "outlier_threshold": {
+            "type": "number",
+            "description": "outlier_threshold",
+            "default": 0.01
+          },
+          "plane_slope_threshold": {
+            "type": "number",
+            "description": "plane_slope_threshold",
+            "default": 10.0
+          },
+          "voxel_size_x": {
+            "type": "number",
+            "description": "voxel_size_x",
+            "default": 0.04
+          },
+          "voxel_size_y": {
+            "type": "number",
+            "description": "voxel_size_y",
+            "default": 0.04
+          },
+          "voxel_size_z": {
+            "type": "number",
+            "description": "voxel_size_z",
+            "default": 0.04
+          },
+          "height_threshold": {
+            "type": "number",
+            "description": "height_threshold",
+            "default": 0.01
+          },
+          "debug": {
+            "type": "boolean",
+            "description": "debug",
+            "default": false
+          },
+          "publish_processing_time_detail": {
+            "type": "boolean",
+            "description": "publish_processing_time_detail",
+            "default": false
+          }
+        },
+        "required": [
+          "base_frame",
+          "unit_axis",
+          "max_iterations",
+          "min_trial",
+          "min_points",
+          "outlier_threshold",
+          "plane_slope_threshold",
+          "voxel_size_x",
+          "voxel_size_y",
+          "voxel_size_z",
+          "height_threshold",
+          "debug",
+          "publish_processing_time_detail"
+        ],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/ransac_ground_filter"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+} 
\ No newline at end of file
diff --git a/perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json b/perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json
new file mode 100644
index 0000000000000..c81e2648cbca0
--- /dev/null
+++ b/perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json
@@ -0,0 +1,108 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "Ray Ground Filter Node Params",
+    "type": "object",
+    "definitions": {
+      "ray_ground_filter": {
+        "type": "object",
+        "properties": {
+          "min_x": {
+            "type": "number",
+            "description": "min_x",
+            "default": -0.01
+          },
+          "max_x": {
+            "type": "number",
+            "description": "max_x",
+            "default": 0.01
+          },
+          "min_y": {
+            "type": "number",
+            "description": "min_y",
+            "default": -0.01
+          },
+          "max_y": {
+            "type": "number",
+            "description": "max_y",
+            "default": 0.01
+          },
+          "use_vehicle_footprint": {
+            "type": "boolean",
+            "description": "use_vehicle_footprint",
+            "default": false
+          },
+          "general_max_slope": {
+            "type": "number",
+            "description": "general_max_slope",
+            "default": 8.0
+          },
+          "local_max_slope": {
+            "type": "number",
+            "description": "local_max_slope",
+            "default": 6.0
+          },
+          "initial_max_slope": {
+            "type": "number",
+            "description": "initial_max_slope",
+            "default": 3.0
+          },
+          "radial_divider_angle": {
+            "type": "number",
+            "description": "radial_divider_angle",
+            "default": 1.0
+          },
+          "min_height_threshold": {
+            "type": "number",
+            "description": "min_height_threshold",
+            "default": 0.15
+          },
+          "concentric_divider_distance": {
+            "type": "number",
+            "description": "concentric_divider_distance",
+            "default": 0.0
+          },
+          "reclass_distance_threshold": {
+            "type": "number",
+            "description": "reclass_distance_threshold",
+            "default": 0.1
+          },
+          "publish_processing_time_detail": {
+            "type": "boolean",
+            "description": "publish_processing_time_detail",
+            "default": false
+          }
+        },
+        "required": [
+          "min_x",
+          "max_x",
+          "min_y",
+          "max_y",
+          "use_vehicle_footprint",
+          "general_max_slope",
+          "local_max_slope",
+          "initial_max_slope",
+          "radial_divider_angle",
+          "min_height_threshold",
+          "concentric_divider_distance",
+          "reclass_distance_threshold",
+          "publish_processing_time_detail"
+        ],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/ray_ground_filter"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+}
+  
\ No newline at end of file
diff --git a/perception/autoware_ground_segmentation/schema/scan_ground_filter.schema.json b/perception/autoware_ground_segmentation/schema/scan_ground_filter.schema.json
new file mode 100644
index 0000000000000..7c201423cc2a3
--- /dev/null
+++ b/perception/autoware_ground_segmentation/schema/scan_ground_filter.schema.json
@@ -0,0 +1,131 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "Scan Ground Filter Node Params",
+    "type": "object",
+    "definitions": {
+      "scan_ground_filter": {
+        "type": "object",
+        "properties": {
+          "global_slope_max_angle_deg": {
+            "type": "number",
+            "description": "global_slope_max_angle_deg",
+            "default": 10.0
+          },
+          "local_slope_max_angle_deg": {
+            "type": "number",
+            "description": "local_slope_max_angle_deg",
+            "default": 13.0
+          },
+          "split_points_distance_tolerance": {
+            "type": "number",
+            "description": "split_points_distance_tolerance",
+            "default": 0.2
+          },
+          "use_virtual_ground_point": {
+            "type": "boolean",
+            "description": "use_virtual_ground_point",
+            "default": true
+          },
+          "split_height_distance": {
+            "type": "number",
+            "description": "split_height_distance",
+            "default": 0.2
+          },
+          "non_ground_height_threshold": {
+            "type": "number",
+            "description": "non_ground_height_threshold",
+            "default": 0.2
+          },
+          "grid_size_m": {
+            "type": "number",
+            "description": "grid_size_m",
+            "default": 0.1
+          },
+          "grid_mode_switch_radius": {
+            "type": "number",
+            "description": "grid_mode_switch_radius",
+            "default": 20.0
+          },
+          "gnd_grid_buffer_size": {
+            "type": "integer",
+            "description": "gnd_grid_buffer_size",
+            "default": 4
+          },
+          "detection_range_z_max": {
+            "type": "number",
+            "description": "detection_range_z_max",
+            "default": 2.5
+          },
+          "elevation_grid_mode": {
+            "type": "boolean",
+            "description": "elevation_grid_mode",
+            "default": true
+          },
+          "low_priority_region_x": {
+            "type": "number",
+            "description": "low_priority_region_x",
+            "default": -20.0
+          },
+          "center_pcl_shift": {
+            "type": "number",
+            "description": "center_pcl_shift",
+            "default": 0.0
+          },
+          "radial_divider_angle_deg": {
+            "type": "number",
+            "description": "radial_divider_angle_deg",
+            "default": 1.0
+          },
+          "use_recheck_ground_cluster": {
+            "type": "boolean",
+            "description": "use_recheck_ground_cluster",
+            "default": true
+          },
+          "use_lowest_point": {
+            "type": "boolean",
+            "description": "use_lowest_point",
+            "default": true
+          },
+          "publish_processing_time_detail": {
+            "type": "boolean",
+            "description": "publish_processing_time_detail",
+            "default": false
+          }
+        },
+        "required": [
+          "global_slope_max_angle_deg",
+          "local_slope_max_angle_deg",
+          "split_points_distance_tolerance",
+          "use_virtual_ground_point",
+          "split_height_distance",
+          "non_ground_height_threshold",
+          "grid_size_m",
+          "grid_mode_switch_radius",
+          "gnd_grid_buffer_size",
+          "detection_range_z_max",
+          "elevation_grid_mode",
+          "low_priority_region_x",
+          "center_pcl_shift",
+          "radial_divider_angle_deg",
+          "use_recheck_ground_cluster",
+          "use_lowest_point",
+          "publish_processing_time_detail"
+        ],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/scan_ground_filter"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+}  
\ No newline at end of file