self.model_path = self.get_parameter("model_path").value self.model_config_path = self.get_parameter("model_config_path").value self.lidar_data = self.get_parameter("lidar_topic").value - self.publish_detection = self.get_parameter('detection_options.enable_detection').get_parameter_value().bool_value + self.publish_detection = self.get_parameter( + 'detection_options.enable_detection').get_parameter_value().bool_value self.viz_publisher = self.create_publisher(MarkerArray, "/lidar_detections_viz", 10) self.detections_publisher = self.create_publisher(Detection3DArray, "/lidar_detections", 10)

detected_object.hypothesis.score = float(pred_dicts[0]["pred_scores"][idx]) detection.results.append(detected_object) detections.detections.append(detection) - + if self.publish_detection: self.viz_publisher.publish(marker_array) self.detections_publisher.publish(detections)

cfg_from_yaml_file(args.cfg_file, cfg) return args, cfg + class LidarDatalodaer(DatasetTemplate): def __init__(self, dataset_cfg, class_names, training=True, logger=None, ext=".bin"): super().__init__( dataset_cfg=dataset_cfg, class_names=class_names, training=training, logger=logger ) + def main(args=None): rclpy.init(args=args)

Detected infrastructure changes

Using openpcdet-dan as the source branch

Using main as the target branch