From 85a11cfc19e8c2d826aa153debc01576ed5ebef9 Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Fri, 22 Sep 2023 18:00:26 +0900
Subject: [PATCH] docs: update documents

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 ...ms.svg => roi_cluster_fusion_pipeline.svg} | 196 +++++++++---------
 .../docs/roi-cluster-fusion.md                |   6 +-
 2 files changed, 101 insertions(+), 101 deletions(-)
 rename perception/image_projection_based_fusion/docs/images/{roi_cluster_fusion_params.svg => roi_cluster_fusion_pipeline.svg} (82%)

diff --git a/perception/image_projection_based_fusion/docs/images/roi_cluster_fusion_params.svg b/perception/image_projection_based_fusion/docs/images/roi_cluster_fusion_pipeline.svg
similarity index 82%
rename from perception/image_projection_based_fusion/docs/images/roi_cluster_fusion_params.svg
rename to perception/image_projection_based_fusion/docs/images/roi_cluster_fusion_pipeline.svg
index 603dc6807082e..aaadfaf186dd2 100644
--- a/perception/image_projection_based_fusion/docs/images/roi_cluster_fusion_params.svg
+++ b/perception/image_projection_based_fusion/docs/images/roi_cluster_fusion_pipeline.svg
@@ -8,45 +8,69 @@
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+    <path
+      d="M 790.01 60 L 1240 60 L 1240 324.75 L 846.01 324.75 L 790.01 349.75 L 826.01 324.75 L 790.01 324.75 Z"
+      fill="rgb(255, 255, 255)"
+      stroke="rgb(0, 0, 0)"
+      stroke-miterlimit="10"
+      pointer-events="all"
+    />
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
           <div
             xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 123px; height: 1px; padding-top: 395px; margin-left: 973px;"
+            style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 448px; height: 1px; padding-top: 67px; margin-left: 792px;"
           >
-            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
-                <i>use_iou</i>
+                <font style="font-size: 14px;">
+                  <b>Check whether</b>
+                  <font color="#0000ff" style="font-weight: bold;">the cluster RoI (inner)</font>
+                  <b>is fully contained within</b>
+                  <font color="#ff0000" style="font-weight: bold;">the scaled detected RoI (outer)</font>
+                  <b>.</b>
+                  <br/>
+                  <br/>
+                  <i>*NOTE*</i>
+                  <br/>
+                  <b>Because the cluster RoI is calculated with the points projected on the image, our recommended scale factor is [1.1, 1.5] .</b>
+                  <br/>
+                  <b>Otherwise, set</b>
+                  <i style="">only_allow_inside_cluster</i>
+                  <b>to</b>
+                  <i style="">False</i>
+                  <b>.</b>
+                  <br/>
+                </font>
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="1034" y="399" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">use_iou</text>
+        <text x="792" y="79" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Check whether the cluster RoI (inner) is fully contained within the scaled...</text>
       </switch>
     </g>
-    <rect x="576.8" y="276.11" width="145.61" height="49.26" rx="24.63" ry="24.63" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/>
+    <path d="M 1034.43 374.64 L 1096.83 395.17 L 1034.43 415.69 L 972.03 395.17 Z" fill="#fff2cc" stroke="#d6b656" stroke-miterlimit="10" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
           <div
             xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 144px; height: 1px; padding-top: 301px; margin-left: 578px;"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 123px; height: 1px; padding-top: 395px; margin-left: 973px;"
           >
             <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
-                <i>roi_scale_factor</i>
+                <i>use_iou</i>
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="650" y="304" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">roi_scale_factor</text>
+        <text x="1034" y="399" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">use_iou</text>
       </switch>
     </g>
     <rect x="566.4" y="555.28" width="166.41" height="49.26" rx="24.63" ry="24.63" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/>
@@ -88,15 +112,15 @@
         <text x="1159" y="400" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">use_iou_x /  y&#xa;</text>
       </switch>
     </g>
-    <path d="M 649.61 254.22 L 649.6 274.2 L 649.6 269.74" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 649.6 274.99 L 646.1 267.99 L 649.6 269.74 L 653.1 267.99 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 649.61 188.53 L 748.41 221.37 L 649.61 254.22 L 550.8 221.37 Z" fill="#fff2cc" stroke="#d6b656" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 649.61 285.69 L 649.61 327.22" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 649.61 332.47 L 646.11 325.47 L 649.61 327.22 L 653.11 325.47 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 649.61 220 L 748.41 252.84 L 649.61 285.69 L 550.8 252.84 Z" fill="#fff2cc" stroke="#d6b656" stroke-miterlimit="10" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
           <div
             xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 196px; height: 1px; padding-top: 221px; margin-left: 552px;"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 196px; height: 1px; padding-top: 253px; margin-left: 552px;"
           >
             <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
@@ -105,7 +129,7 @@
             </div>
           </div>
         </foreignObject>
-        <text x="650" y="225" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">only_allow_inside_cluster</text>
+        <text x="650" y="256" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">only_allow_inside_cluster</text>
       </switch>
     </g>
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@@ -128,8 +152,8 @@
     </g>
     <path d="M 748.41 497.8 L 804.45 497.8" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
     <path d="M 809.7 497.8 L 802.7 501.3 L 804.45 497.8 L 802.7 494.3 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 649.6 530.64 L 649.6 550.7 L 649.6 548.91" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 649.6 554.16 L 646.1 547.16 L 649.6 548.91 L 653.1 547.16 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 649.57 530.63 L 649.57 550.71 L 649.55 548.91" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 649.61 554.16 L 646.03 547.2 L 649.55 548.91 L 653.03 547.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <path d="M 649.61 464.96 L 748.41 497.8 L 649.61 530.65 L 550.8 497.8 Z" fill="#dae8fc" stroke="#6c8ebf" stroke-miterlimit="10" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
@@ -148,8 +172,8 @@
         <text x="650" y="501" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Is UNKNOWN object?</text>
       </switch>
     </g>
-    <path d="M 748.41 221.37 L 779.6 221.4 L 779.6 440.3 L 649.6 440.3 L 649.6 458.59" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 649.6 463.84 L 646.1 456.84 L 649.6 458.59 L 653.1 456.84 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 748.41 252.84 L 780.03 252.83 L 780.03 439.86 L 650.03 439.86 L 650.03 458.73" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 650.03 463.98 L 646.53 456.98 L 650.03 458.73 L 653.53 456.98 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
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     <g transform="translate(-0.5 -0.5)">
       <switch>
@@ -172,12 +196,12 @@
     </g>
     <path d="M 732.81 579.91 L 773.25 579.91" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
     <path d="M 778.5 579.91 L 771.5 583.41 L 773.25 579.91 L 771.5 576.41 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 878.4 522.43 L 878.4 542.5 L 878.4 527.1 L 878.41 540.7" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 878.42 545.95 L 874.91 538.95 L 878.41 540.7 L 881.91 538.95 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 649.6 429.38 L 649.6 449.4 L 649.6 458.59" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 649.6 463.84 L 646.1 456.84 L 649.6 458.59 L 653.1 456.84 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 1034.43 519.7 L 1034.4 533.4 L 878.4 533.4 L 878.41 540.7" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 878.42 545.95 L 874.91 538.95 L 878.41 540.7 L 881.91 538.94 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 878.43 522.43 L 878.43 542.49 L 878.43 527.11 L 878.42 540.7" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 878.42 545.95 L 874.92 538.95 L 878.42 540.7 L 881.92 538.95 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 649.61 415.7 L 649.61 458.59" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 649.61 463.84 L 646.11 456.84 L 649.61 458.59 L 653.11 456.84 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 1034.43 519.7 L 1034.43 533.4 L 878.43 533.4 L 878.42 540.7" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 878.42 545.95 L 874.93 538.95 L 878.42 540.7 L 881.93 538.95 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <rect x="977.23" y="475.91" width="114.41" height="43.79" fill="#d5e8d4" stroke="#82b366" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
@@ -196,12 +220,12 @@
         <text x="1034" y="501" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">IoU Score</text>
       </switch>
     </g>
-    <path d="M 1159.24 417.75 L 1159.2 445.8 L 1051.2 445.8" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 1159.24 417.75 L 1159.17 445.8 L 1051.2 445.8" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
     <path d="M 1045.95 445.8 L 1052.95 442.3 L 1051.2 445.8 L 1052.95 449.3 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <path d="M 1034.43 415.69 L 1034.43 428.48" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
     <path d="M 1034.43 433.73 L 1030.93 426.73 L 1034.43 428.48 L 1037.93 426.73 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 1034.43 456.75 L 1034.41 470.43" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 1034.4 475.68 L 1030.91 468.68 L 1034.41 470.43 L 1037.91 468.69 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 1034.43 456.75 L 1034.43 470.46" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 1034.43 475.71 L 1030.93 468.71 L 1034.43 470.46 L 1037.93 468.71 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <ellipse cx="1034.43" cy="445.8" rx="10.400616332819721" ry="10.947712418300654" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
     <path d="M 1024.03 445.8 L 1044.83 445.8" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <path d="M 1034.43 434.85 L 1034.43 456.75" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
@@ -209,17 +233,17 @@
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     <path d="M 1034.43 456.75 L 1034.43 469.54" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
     <path d="M 1034.43 474.79 L 1030.93 467.79 L 1034.43 469.54 L 1037.93 467.79 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 649.61 464.96 L 960 465 L 960 354.8 L 1034.4 354.8 L 1034.42 368.27" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 1034.43 373.52 L 1030.92 366.53 L 1034.42 368.27 L 1037.92 366.52 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 649.61 464.96 L 960 465 L 960 354.8 L 1159.2 354.8 L 1159.23 368.27" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 1159.24 373.52 L 1155.72 366.53 L 1159.23 368.27 L 1162.72 366.52 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 649.61 347.27 L 769.21 388.33 L 649.61 429.38 L 530 388.33 Z" fill="#dae8fc" stroke="#6c8ebf" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 649.61 464.96 L 960.03 465 L 960.03 354.83 L 1034.43 354.83 L 1034.43 368.27" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 1034.43 373.52 L 1030.93 366.52 L 1034.43 368.27 L 1037.93 366.52 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 649.61 464.96 L 960.03 465 L 960.03 354.83 L 1159.17 354.83 L 1159.22 368.27" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 1159.23 373.52 L 1155.71 366.53 L 1159.22 368.27 L 1162.71 366.51 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 649.61 333.59 L 769.21 374.65 L 649.61 415.7 L 530 374.65 Z" fill="#dae8fc" stroke="#6c8ebf" stroke-miterlimit="10" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
           <div
             xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 237px; height: 1px; padding-top: 388px; margin-left: 531px;"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 237px; height: 1px; padding-top: 375px; margin-left: 531px;"
           >
             <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
@@ -228,11 +252,9 @@
             </div>
           </div>
         </foreignObject>
-        <text x="650" y="392" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Is Cluster RoI inside Detected RoI?</text>
+        <text x="650" y="378" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Is Cluster RoI inside Detected RoI?</text>
       </switch>
     </g>
-    <path d="M 649.6 325.38 L 649.6 345.4 L 649.6 340.91" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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@@ -275,8 +297,8 @@
     </g>
     <path d="M 977.23 579.91 L 1017.66 579.91" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
     <path d="M 1022.91 579.91 L 1015.91 583.41 L 1017.66 579.91 L 1015.91 576.41 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
-    <path d="M 649.61 166.63 L 649.61 182.16" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
-    <path d="M 649.61 187.41 L 646.11 180.41 L 649.61 182.16 L 653.11 180.41 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+    <path d="M 649.6 166.63 L 649.61 213.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+    <path d="M 649.61 218.88 L 646.11 211.88 L 649.61 213.63 L 653.11 211.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
     <rect x="571.6" y="112.84" width="156.01" height="53.79" fill="#d5e8d4" stroke="#82b366" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
@@ -295,55 +317,13 @@
         <text x="650" y="143" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Fusion Target Cluster...</text>
       </switch>
     </g>
-    <path
-      d="M 790.01 82.84 L 1240 82.84 L 1240 347.59 L 846.01 347.59 L 790.01 372.59 L 826.01 347.59 L 790.01 347.59 Z"
-      fill="rgb(255, 255, 255)"
-      stroke="rgb(0, 0, 0)"
-      stroke-miterlimit="10"
-      pointer-events="all"
-    />
-    <g transform="translate(-0.5 -0.5)">
-      <switch>
-        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-          <div
-            xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 448px; height: 1px; padding-top: 90px; margin-left: 792px;"
-          >
-            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
-              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
-                <font style="font-size: 14px;">
-                  <b>Check whether</b>
-                  <font color="#0000ff" style="font-weight: bold;">the cluster RoI (inner)</font>
-                  <b>is fully contained within</b>
-                  <font color="#ff0000" style="font-weight: bold;">the scaled detected RoI (outer)</font>
-                  <b>.</b>
-                  <br/>
-                  <br/>
-                  <i>*NOTE*</i>
-                  <br/>
-                  <b>Because the cluster RoI is calculated with the points projected on the image, our recommended scale factor is [1.1, 1.5] .</b>
-                  <br/>
-                  <b>Otherwise, set</b>
-                  <i style="">only_allow_inside_cluster</i>
-                  <b>to</b>
-                  <i style="">False</i>
-                  <b>.</b>
-                  <br/>
-                </font>
-              </div>
-            </div>
-          </div>
-        </foreignObject>
-        <text x="792" y="102" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Check whether the cluster RoI (inner) is fully contained within the scaled...</text>
-      </switch>
-    </g>
-    <rect x="813.42" y="365.06" width="130.01" height="46.53" fill="#d5e8d4" stroke="#82b366" stroke-dasharray="3 3" pointer-events="all"/>
+    <rect x="813.42" y="351.38" width="130.01" height="46.53" fill="#d5e8d4" stroke="#82b366" stroke-dasharray="3 3" pointer-events="all"/>
     <g transform="translate(-0.5 -0.5)">
       <switch>
         <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
           <div
             xmlns="http://www.w3.org/1999/xhtml"
-            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 128px; height: 1px; padding-top: 388px; margin-left: 814px;"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 128px; height: 1px; padding-top: 375px; margin-left: 814px;"
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diff --git a/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md b/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md
index 796fb504a2df6..da006624f8a8f 100644
--- a/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md
+++ b/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md
@@ -30,10 +30,10 @@ The clusters are projected onto image planes, and then if the ROIs of clusters a
 
 ## Parameters
 
-The following figure is an inner pipeline of RoI cluster fusion node.
-Please refer to it when you want to optimize parameters.
+The following figure is an inner pipeline overview of RoI cluster fusion node.
+Please refer to it for your parameter settings.
 
-![roi_cluster_fusion_params](./images/roi_cluster_fusion_params.svg)
+![roi_cluster_fusion_pipeline](./images/roi_cluster_fusion_pipeline.svg)
 
 ### Core Parameters