From 05ddce20c2a33fc1c4ae8d736eb5ec8a83b20791 Mon Sep 17 00:00:00 2001 From: scepter914 Date: Sun, 28 Jan 2024 06:48:53 +0900 Subject: [PATCH 1/2] chore(simple_object_merger): fix README Signed-off-by: scepter914 --- perception/simple_object_merger/README.md | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/perception/simple_object_merger/README.md b/perception/simple_object_merger/README.md index 9bcd03e8abfa1..47dd2f1df73b3 100644 --- a/perception/simple_object_merger/README.md +++ b/perception/simple_object_merger/README.md @@ -1,23 +1,20 @@ # 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. - -## Algorithm +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. +## 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 From f0832518106b4d6bdcc1fef1fd45be15c220bd8d Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 29 Jan 2024 03:38:32 +0000 Subject: [PATCH 2/2] style(pre-commit): autofix --- perception/simple_object_merger/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/simple_object_merger/README.md b/perception/simple_object_merger/README.md index 47dd2f1df73b3..4c037963361a1 100644 --- a/perception/simple_object_merger/README.md +++ b/perception/simple_object_merger/README.md @@ -3,6 +3,7 @@ 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. ## 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.