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Update RT-DETR confidence threshold dynamically #65

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Update RT-DETR confidence threshold dynamically #65

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6 changes: 6 additions & 0 deletions isaac_ros_rtdetr/include/isaac_ros_rtdetr/rtdetr_decoder_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand All @@ -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_;
Expand All @@ -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_;
};

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21 changes: 21 additions & 0 deletions isaac_ros_rtdetr/src/rtdetr_decoder_node.cpp
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Expand Up @@ -68,13 +68,34 @@ 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()
{
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)
{
Expand Down