From ad81dd99b3768417b2f8ce6b948abfa0f2a7c9fb Mon Sep 17 00:00:00 2001
From: Krishna Krothapalli <krishna.krothapalli@accenture.com>
Date: Mon, 8 Jun 2026 11:43:31 +0200
Subject: [PATCH] Update RT-DETR confidence threshold dynamically

Signed-off-by: Krishna Krothapalli <krishna.krothapalli@accenture.com>
---
 .../isaac_ros_rtdetr/rtdetr_decoder_node.hpp  |  6 ++++++
 isaac_ros_rtdetr/src/rtdetr_decoder_node.cpp  | 21 +++++++++++++++++++
 2 files changed, 27 insertions(+)

diff --git a/isaac_ros_rtdetr/include/isaac_ros_rtdetr/rtdetr_decoder_node.hpp b/isaac_ros_rtdetr/include/isaac_ros_rtdetr/rtdetr_decoder_node.hpp
index 68b71e2..92d959d 100644
--- a/isaac_ros_rtdetr/include/isaac_ros_rtdetr/rtdetr_decoder_node.hpp
+++ b/isaac_ros_rtdetr/include/isaac_ros_rtdetr/rtdetr_decoder_node.hpp
@@ -20,8 +20,10 @@
 
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
 
 #include "isaac_ros_common/qos.hpp"
 #include "isaac_ros_managed_nitros/managed_nitros_subscriber.hpp"
@@ -45,6 +47,9 @@ class RtDetrDecoderNode : public rclcpp::Node
 private:
   void InputCallback(const nvidia::isaac_ros::nitros::NitrosTensorListView & msg);
 
+  rcl_interfaces::msg::SetParametersResult ParametersCallback(
+    const std::vector<rclcpp::Parameter> & parameters);
+
   // QOS settings
   rclcpp::QoS input_qos_;
   rclcpp::QoS output_qos_;
@@ -60,6 +65,7 @@ class RtDetrDecoderNode : public rclcpp::Node
   std::string boxes_tensor_name_{};
   std::string scores_tensor_name_{};
   double confidence_threshold_{};
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
   cudaStream_t stream_;
 };
 
diff --git a/isaac_ros_rtdetr/src/rtdetr_decoder_node.cpp b/isaac_ros_rtdetr/src/rtdetr_decoder_node.cpp
index be8ccf9..62e2b95 100644
--- a/isaac_ros_rtdetr/src/rtdetr_decoder_node.cpp
+++ b/isaac_ros_rtdetr/src/rtdetr_decoder_node.cpp
@@ -68,6 +68,12 @@ RtDetrDecoderNode::RtDetrDecoderNode(const rclcpp::NodeOptions options)
   confidence_threshold_{declare_parameter<double>("confidence_threshold", 0.9)}
 {
   cudaStreamCreate(&stream_);
+
+  parameter_callback_handle_ = add_on_set_parameters_callback(
+    std::bind(
+      &RtDetrDecoderNode::ParametersCallback,
+      this,
+      std::placeholders::_1));
 }
 
 RtDetrDecoderNode::~RtDetrDecoderNode()
@@ -75,6 +81,21 @@ RtDetrDecoderNode::~RtDetrDecoderNode()
   cudaStreamDestroy(stream_);
 }
 
+rcl_interfaces::msg::SetParametersResult RtDetrDecoderNode::ParametersCallback(
+  const std::vector<rclcpp::Parameter> & parameters)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+
+  for (const auto &parameter : parameters) {
+    if (parameter.get_name() == "confidence_threshold") {
+      confidence_threshold_ = parameter.as_double();
+    }
+  }
+
+  return result;
+}
+
 void RtDetrDecoderNode::InputCallback(
   const nvidia::isaac_ros::nitros::NitrosTensorListView & msg)
 {