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feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars (#9488) #1676

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Dec 6, 2024
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feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars (#9488) #1676

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17 changes: 15 additions & 2 deletions perception/lidar_centerpoint/lib/centerpoint_trt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,15 +115,28 @@ bool CenterPointTRT::detect(
cudaMemsetAsync(spatial_features_d_.get(), 0, spatial_features_size_ * sizeof(float), stream_));

if (!preprocess(input_pointcloud_msg, tf_buffer)) {
RCLCPP_WARN_STREAM(
rclcpp::get_logger("lidar_centerpoint"), "Fail to preprocess and skip to detect.");
RCLCPP_WARN(rclcpp::get_logger("lidar_centerpoint"), "Fail to preprocess and skip to detect.");
return false;
}

inference();

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::Clock clock{RCL_ROS_TIME};
RCLCPP_WARN_THROTTLE(
rclcpp::get_logger("lidar_centerpoint"), clock, 1000,
"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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