From 6b39a770694af233dbf2884ab328c5e9084faebe Mon Sep 17 00:00:00 2001
From: suchang <chang.su@autocore.ai>
Date: Fri, 15 Jul 2022 15:02:48 +0800
Subject: [PATCH 1/3] read float param

Signed-off-by: suchang <chang.su@autocore.ai>
---
 .../launch/lidar_apollo_instance_segmentation.launch.xml       | 2 +-
 perception/lidar_apollo_instance_segmentation/src/detector.cpp | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml b/perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
index 9fed29828ed9f..78127590685fb 100644
--- a/perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
+++ b/perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
@@ -13,7 +13,7 @@
   <arg name="param_file" default="$(find-pkg-share lidar_apollo_instance_segmentation)/config/$(var base_name).param.yaml"/>
 
   <arg name="target_frame" default="base_link"/>
-  <arg name="z_offset" default="-2"/>
+  <arg name="z_offset" default="-2.0"/>
 
   <node pkg="lidar_apollo_instance_segmentation" exec="lidar_apollo_instance_segmentation_node" name="lidar_apollo_instance_segmentation" output="screen">
     <remap from="input/pointcloud" to="$(var input/pointcloud)"/>
diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
index af8b29f55f340..1241519285599 100644
--- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp
+++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
@@ -29,6 +29,7 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
   std::string prototxt_file;
   std::string caffemodel_file;
   score_threshold_ = node_->declare_parameter("score_threshold", 0.8);
+  std::cout<<"score_threshold_:"<<score_threshold_<<std::endl;
   range = node_->declare_parameter("range", 60);
   width = node_->declare_parameter("width", 640);
   height = node_->declare_parameter("height", 640);
@@ -38,7 +39,7 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
   use_intensity_feature = node_->declare_parameter("use_intensity_feature", true);
   use_constant_feature = node_->declare_parameter("use_constant_feature", true);
   target_frame_ = node_->declare_parameter("target_frame", "base_link");
-  z_offset_ = node_->declare_parameter("z_offset", 2);
+  z_offset_ = node_->declare_parameter<float>("z_offset", 2);
 
   // load weight file
   std::ifstream fs(engine_file);

From 939459ce5f9e79e1175039b9ffe6638dcbe71998 Mon Sep 17 00:00:00 2001
From: suchang <chang.su@autocore.ai>
Date: Fri, 15 Jul 2022 15:11:10 +0800
Subject: [PATCH 2/3] remove cout

Signed-off-by: suchang <chang.su@autocore.ai>
---
 perception/lidar_apollo_instance_segmentation/src/detector.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
index 1241519285599..2ef5403626f82 100644
--- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp
+++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
@@ -29,7 +29,6 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
   std::string prototxt_file;
   std::string caffemodel_file;
   score_threshold_ = node_->declare_parameter("score_threshold", 0.8);
-  std::cout<<"score_threshold_:"<<score_threshold_<<std::endl;
   range = node_->declare_parameter("range", 60);
   width = node_->declare_parameter("width", 640);
   height = node_->declare_parameter("height", 640);

From bb81c611117c34a48d4f3aeb82469cfbc99b438b Mon Sep 17 00:00:00 2001
From: suchang <chang.su@autocore.ai>
Date: Fri, 15 Jul 2022 17:43:44 +0800
Subject: [PATCH 3/3] change default z_offset

Signed-off-by: suchang <chang.su@autocore.ai>
---
 perception/lidar_apollo_instance_segmentation/src/detector.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
index 2ef5403626f82..77eee2c551846 100644
--- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp
+++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
@@ -38,7 +38,7 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
   use_intensity_feature = node_->declare_parameter("use_intensity_feature", true);
   use_constant_feature = node_->declare_parameter("use_constant_feature", true);
   target_frame_ = node_->declare_parameter("target_frame", "base_link");
-  z_offset_ = node_->declare_parameter<float>("z_offset", 2);
+  z_offset_ = node_->declare_parameter<float>("z_offset", -2.0);
 
   // load weight file
   std::ifstream fs(engine_file);