From 4f7fded30f48d3017dcf8da291fdbd429bdb130a Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Mon, 29 Jan 2024 22:25:57 +0900 Subject: [PATCH] chore(simple_object_merger): fix README (#6202) * chore(simple_object_merger): fix README Signed-off-by: scepter914 * style(pre-commit): autofix --------- Signed-off-by: scepter914 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/simple_object_merger/README.md | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/perception/simple_object_merger/README.md b/perception/simple_object_merger/README.md index 9bcd03e8abfa1..4c037963361a1 100644 --- a/perception/simple_object_merger/README.md +++ b/perception/simple_object_merger/README.md @@ -1,23 +1,21 @@ # simple_object_merger -This package can merge multiple topics of [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl) without low calculation cost. +This package can merge multiple topics of [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl) with low calculation cost. -## Algorithm +## Design ### Background [Object_merger](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger) is mainly used for merge process with DetectedObjects. There are 2 characteristics in `Object_merger`. First, `object_merger` solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, `object_merger` can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 `object_merger` nodes need to stand for now. -So `simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost. +Therefore, `simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost. The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes. ### Use case -Use case is as below. - - Multiple radar detection -`Simple_object_merger` can be used for multiple radar detection. By combining them into one topic from multiple radar topics with `simple_object_merger`, the pipeline for faraway detection with radar is simpler. +`Simple_object_merger` can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler. ### Limitation