Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

chore(simple_object_merger): fix README #6202

Merged
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 4 additions & 6 deletions perception/simple_object_merger/README.md
Original file line number Diff line number Diff line change
@@ -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

Expand Down