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perception/lidar_apollo_instance_segmentation
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| ` use_constant_feature ` | bool | false | The flag to use direction and distance feature of pointcloud. |
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| ` target_frame ` | string | "base_link" | Pointcloud data is transformed into this frame. |
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| ` z_offset ` | int | 2 | z offset from target frame. [ m] |
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+ | ` build_only ` | bool | ` false ` | shutdown the node after TensorRT engine file is built |
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## Assumptions / Known limits
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Original file line number Diff line number Diff line change 2
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<arg name =" input/pointcloud" default =" /sensing/lidar/pointcloud" />
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<arg name =" model" default =" model_128" />
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<arg name =" output/objects" default =" labeled_clusters" />
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+ <arg name =" build_only" default =" false" description =" shutdown node after TensorRT engine file is built" />
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<arg if =" $(eval " '$(var model)'=='model_16'" )" name =" base_name" default =" vlp-16" />
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<arg if =" $(eval " '$(var model)'=='model_64'" )" name =" base_name" default =" hdl-64" />
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<param name =" precision" value =" $(var precision)" />
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<param name =" target_frame" value =" $(var target_frame)" />
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<param from =" $(var param_file)" />
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+
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+ <!-- This parameter shall NOT be included in param file. -->
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+ <param name =" build_only" value =" $(var build_only)" />
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</node >
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</launch >
Original file line number Diff line number Diff line change @@ -48,6 +48,11 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
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return ;
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}
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+ if (node_->declare_parameter (" build_only" , false )) {
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+ RCLCPP_INFO (node_->get_logger (), " TensorRT engine is built and shutdown node." );
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+ rclcpp::shutdown ();
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+ }
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+
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// GPU memory allocation
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const auto input_dims = trt_common_->getBindingDimensions (0 );
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const auto input_size =
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