Update RT-DETR confidence threshold dynamically#65
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Signed-off-by: Krishna Krothapalli <krishna.krothapalli@accenture.com>
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@jaiveersinghNV @kajananchinniahNV
Description
This PR updates the RT-DETR decoder so runtime changes to the
confidence_thresholdparameter are applied without restarting the node.Previously,
confidence_thresholdwas declared and copied into theconfidence_threshold_member variable during node construction. As a result, running:ros2 param set /rtdetr_decoder confidence_threshold 0.75updated the ROS parameter value, but the decoder continued using the original startup value inside InputCallback().
This change adds a parameter callback that updates confidence_threshold_ when the parameter is changed.
Testing
Built the package, verified the parameter can be changed at runtime and confirmed that detections update without restarting the node.
results on the examples with the low threshold
ros2 param set /rtdetr_decoder confidence_threshold 0.1