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feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars #9488

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merged 4 commits into from
Nov 28, 2024
Merged

feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars #9488

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3443a7c
feat: added a check to notify if we are dropping pillars
knzo25 Nov 27, 2024
7d3691b
chore: updated text
knzo25 Nov 27, 2024
82de8bd
chore: throttled the message
knzo25 Nov 27, 2024
8aeb73f
Merge branch 'main' into feat/centerpoint_pillar_num_check
knzo25 Nov 28, 2024
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13 changes: 13 additions & 0 deletions perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,6 +144,19 @@ bool CenterPointTRT::detect(

postProcess(det_boxes3d);

// Check the actual number of pillars after inference to avoid unnecessary synchronization.
unsigned int num_pillars = 0;
CHECK_CUDA_ERROR(
cudaMemcpy(&num_pillars, num_voxels_d_.get(), sizeof(unsigned int), cudaMemcpyDeviceToHost));

if (num_pillars >= config_.max_voxel_size_) {
RCLCPP_WARN(
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rclcpp::get_logger("lidar_centerpoint"),
"The actual number of pillars (%u) exceeds its maximum value (%zu). "
"Please considering increasing it since it may limit the detection performance.",
num_pillars, config_.max_voxel_size_);
}

return true;
}

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