Merge pull request #1691 from tier4/feat/remove_max_camera_num_limit

YoshiRi · web-flow · commit 2b55cc9209a6 · 2024-12-12T10:59:56.000+09:00
feat: remove max rois limit in the image projection based fusion (autowarefoundation#9596)
diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp
@@ -54,8 +54,8 @@ FusionNode<TargetMsg3D, ObjType, Msg2D>::FusionNode(
   }
   if (rois_number_ > 8) {
     RCLCPP_WARN(
-      this->get_logger(), "maximum rois_number is 8. current rois_number is %zu", rois_number_);
-    rois_number_ = 8;
+      this->get_logger(),
+      "Current rois_number is %zu. Large rois number may cause performance issue.", rois_number_);
   }
 
   // Set parameters

Original file line number	Diff line number	Diff line change
`@@ -54,8 +54,8 @@ FusionNode<TargetMsg3D, ObjType, Msg2D>::FusionNode(`
`54`	`54`	`}`
`55`	`55`	`if (rois_number_ > 8) {`
`56`	`56`	`RCLCPP_WARN(`
`57`		`- this->get_logger(), "maximum rois_number is 8. current rois_number is %zu", rois_number_);`
`58`		`- rois_number_ = 8;`
	`57`	`+ this->get_logger(),`
	`58`	`+ "Current rois_number is %zu. Large rois number may cause performance issue.", rois_number_);`
`59`	`59`	`}`
`60`	`60`
`61`	`61`	`// Set parameters`