feat(lidar_centerpoint): remove files those are no longer supported n…

…or used (#6497) * feat(lidar_centerpoint): remove files those are no longer supported nor used Signed-off-by: kminoda <[email protected]> * remove unnecessary file Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> Signed-off-by: Kotaro Yoshimoto <[email protected]>
autowarefoundation · Mar 12, 2024 · d0219d8 · d0219d8
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diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt
@@ -135,25 +135,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     EXECUTABLE lidar_centerpoint_node
   )
 
-  ## single inference node ##
-  ament_auto_add_library(single_inference_lidar_centerpoint_component SHARED
-    src/single_inference_node.cpp
-  )
-
-  target_link_libraries(single_inference_lidar_centerpoint_component
-    centerpoint_lib
-  )
-
-  rclcpp_components_register_node(single_inference_lidar_centerpoint_component
-    PLUGIN "centerpoint::SingleInferenceLidarCenterPointNode"
-    EXECUTABLE single_inference_lidar_centerpoint_node
-  )
-
-  install(PROGRAMS
-    scripts/lidar_centerpoint_visualizer.py
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
   ament_export_dependencies(ament_cmake_python)
 
   ament_auto_package(

diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
@@ -68,18 +68,6 @@ You can download the onnx format of trained models by clicking on the links belo
 `Centerpoint` was trained in `nuScenes` (~28k lidar frames) [8] and TIER IV's internal database (~11k lidar frames) for 60 epochs.
 `Centerpoint tiny` was trained in `Argoverse 2` (~110k lidar frames) [9] and TIER IV's internal database (~11k lidar frames) for 20 epochs.
 
-## Standalone inference and visualization
-
-In addition to its use as a standard ROS node, `lidar_centerpoint` can also be used to perform inferences in an isolated manner.
-To do so, execute the following launcher, where `pcd_path` is the path of the pointcloud to be used for inference.
-
-```bash
-ros2 launch lidar_centerpoint single_inference_lidar_centerpoint.launch.xml pcd_path:=test_pointcloud.pcd detections_path:=test_detections.ply
-```
-
-`lidar_centerpoint` generates a `ply` file in the provided `detections_path`, which contains the detections as triangle meshes.
-These detections can be visualized by most 3D tools, but we also integrate a visualization UI using `Open3D` which is launched alongside `lidar_centerpoint`.
-
 ### Changelog
 
 #### v1 (2022/07/06)

diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/single_inference_node.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/single_inference_node.hpp
diff --git a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md
diff --git a/...erpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml b/...erpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml