提交配置读取yaml文件

TrackingRos.cpp

@@ -161,41 +161,67 @@ TrackingRos::~TrackingRos()
 
 void TrackingRos::Init(ros::NodeHandle& nh)
 {
-    std::string folder,yaml;
-    nh.param<std::string>("project_path", folder, "/home/nvidia/catkin_ws/src/jfxrosperceiver");
-    nh.param<std::string>("yaml_config", yaml, "/jfx_tracking/config/7-1.yaml");
-    std::string file = folder + yaml;
-    SDK_LOG(SDK_INFO, "load yaml file  = %s",file.c_str());
+    nh.param<std::string>("root_dir", m_root_dir, "/home/nvidia/oscar/catkin_ws/src/jfx_yolo5/");
+    int run_mode = 0;
+    nh.param<int>("run_mode", run_mode, 1);
+
+    std::string config_yaml;
+    std::string yaml_config;
+    if (run_mode == 1)
+    {
+        std::string entry_yaml;
+        private_nh.param<std::string>("entry_yaml", entry_yaml, "/home/nvidia/oscar/catkin_ws/src/jfx_yolo5/");
+
+    }
+    else
+    {
+        private_nh.param<std::string>("unittest_yaml", config_yaml, "");
+        private_nh.param<std::string>("yaml_config", yaml_config, "");
+    }
+
+    m_config = YAML::LoadFile(config_yaml);
+
+    //std::string folder,yaml;
+    //nh.param<std::string>("project_path", folder, "/home/nvidia/catkin_ws/src/jfxrosperceiver");
+    //nh.param<std::string>("yaml_config", yaml, "/jfx_tracking/config/7-1.yaml");
+    //std::string file = folder + yaml;
+    SDK_LOG(SDK_INFO, "load yaml file  = %s", yaml_config.c_str());
 
     int gpu = 0;
-    nh.param<int32_t>("kf_gpu", gpu, 0);
+    gpu = m_config["kf_gpu"].as<int32_t>();
+    //nh.param<int32_t>("kf_gpu", gpu, 0);
 
     SDK_LOG(SDK_INFO, "kf_gpu = %d",gpu);
     m_tracker.SetGPU(gpu);
 
-    nh.param<float>("lidar_x_angle", m_lidar_x_angle, 354.102);
+    m_lidar_x_angle = m_config["lidar_x_angle"].as<float>();
+    //nh.param<float>("lidar_x_angle", m_lidar_x_angle, 354.102);
     SDK_LOG(SDK_INFO, "m_lidar_x_angle = %f", m_lidar_x_angle);
 
     float threshold;
-    nh.param<float>("iou_threshold", threshold, 0.01);
+    threshold = m_config["iou_threshold"].as<float>();
+    //nh.param<float>("iou_threshold", threshold, 0.01);
     SDK_LOG(SDK_INFO, "iou_threshold = %f", threshold);
     m_tracker.SetIouThreshold(threshold);
     int max_coastcycles;
-    nh.param<int32_t>("max_coastcycles", max_coastcycles, 2);
+    max_coastcycles = m_config["max_coastcycles"].as<int32_t>();
+    //nh.param<int32_t>("max_coastcycles", max_coastcycles, 2);
     SDK_LOG(SDK_INFO, "max_coastcycles = %d", max_coastcycles);
     m_tracker.SetMaxCoastCycles(max_coastcycles);
     int update_valid_count;
-    nh.param<int32_t>("update_valid_count", update_valid_count, 3);
+    update_valid_count = m_config["update_valid_count"].as<int32_t>();
+    //nh.param<int32_t>("update_valid_count", update_valid_count, 3);
     SDK_LOG(SDK_INFO, "update_valid_count = %d", update_valid_count);
     m_tracker.SetValidUpdateCount(update_valid_count);
     float matrix_angle_r_value;
-    nh.param<float>("matrix_angle_r_value", matrix_angle_r_value, 0.1);
+    matrix_angle_r_value = m_config["matrix_angle_r_value"].as<float>();
+    //nh.param<float>("matrix_angle_r_value", matrix_angle_r_value, 0.1);
     SDK_LOG(SDK_INFO, "matrix_angle_r_value = %f", matrix_angle_r_value);
     std::vector<float> values;
     values.push_back(matrix_angle_r_value);
     m_tracker.SetValues(values);
 
-    YAML::Node config = YAML::LoadFile(file.c_str());
+    YAML::Node config = YAML::LoadFile(yaml_config.c_str());
     auto cfg = config["TRACKING"];
     m_trans = cfg["TRANS"].as<std::vector<std::vector<double>>>();
 

TrackingRos.h

@@ -49,4 +49,7 @@ public:
     int m_frameNum = 0;
 
     float m_lidar_x_angle = 0.0f;//修改rot_y的参数，从配置里读取
+
+    std::string m_root_dir;//存储统一的根目录路径
+    YAML::Node m_config;//配置的yaml文件
 };