docs: update params

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
autowarefoundation · Aug 8, 2023 · b7ceaae · b7ceaae
1 parent e35dc00
commit b7ceaae
Showing 1 changed file with 9 additions and 8 deletions.
diff --git a/perception/image_projection_based_fusion/docs/roi-detected-object-fusion.md b/perception/image_projection_based_fusion/docs/roi-detected-object-fusion.md
@@ -41,14 +41,15 @@ The DetectedObject has three possible shape choices/implementations, where the p
 
 ### Core Parameters
 
-| Name                                            | Type   | Description                                                                                                               |
-| ----------------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------- |
-| `rois_number`                                   | int    | the number of input rois                                                                                                  |
-| `debug_mode`                                    | bool   | If set to `true`, the node subscribes to the image topic and publishes an image with debug drawings.                      |
-| `min_iou_threshold`                             | double | If the iou between detected objects and rois is greater than `min_iou_threshold`, the objects are classified as fused.    |
-| `passthrough_lower_bound_probability_threshold` | double | If the `existence_probability` of a detected object is greater than the threshold, it is published in output.             |
-| `use_roi_probability`                           | float  | If set to `true`, the algorithm uses `existence_probability` of ROIs to match with the that of detected objects.          |
-| `roi_probability_threshold`                     | double | If the `existence_probability` of ROIs is greater than the threshold, matched detected objects are published in `output`. |
+| Name                                             | Type           | Description                                                                                                               |
+| ------------------------------------------------ | -------------- | ------------------------------------------------------------------------------------------------------------------------- |
+| `rois_number`                                    | int            | the number of input rois                                                                                                  |
+| `debug_mode`                                     | bool           | If set to `true`, the node subscribes to the image topic and publishes an image with debug drawings.                      |
+| `passthrough_lower_bound_probability_thresholds` | vector<double> | If the `existence_probability` of a detected object is greater than the threshold, it is published in output.             |
+| `min_iou_threshold`                              | double         | If the iou between detected objects and rois is greater than `min_iou_threshold`, the objects are classified as fused.    |
+| `use_roi_probability`                            | float          | If set to `true`, the algorithm uses `existence_probability` of ROIs to match with the that of detected objects.          |
+| `roi_probability_threshold`                      | double         | If the `existence_probability` of ROIs is greater than the threshold, matched detected objects are published in `output`. |
+| `can_assign_matrix`                              | vector<int>    | association matrix between rois and detected_objects to check that two rois on images can be match                        |
 
 ## Assumptions / Known limits