提交配置更新

TrackingRos.cpp

@@ -9,6 +9,7 @@
 #ifdef _USING_NSIGHT_
 #include <nvToolsExt.h>
 #endif
+#include "yaml_parser.h"
 
 
 float to360(float rot_y,float lidar_x_angle)
@@ -165,21 +166,25 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     int run_mode = 0;
     nh.param<int>("run_mode", run_mode, 1);
 
-    std::string config_yaml;
-    std::string yaml_config;
+    YAML::Node 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/");
-
+        QichechengYamlParser parser;
+        int ret = parser.parse_yaml(entry_yaml, m_root_dir);
+        if (ret != 0)return -1;
+        m_config = parser.entry["TRACKING_YAML_NODE"];
+        config = m_config;
     }
     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);
+        config = YAML::LoadFile(yaml_config.c_str())
     }
 
-    m_config = YAML::LoadFile(config_yaml);
 
     //std::string folder,yaml;
     //nh.param<std::string>("project_path", folder, "/home/nvidia/catkin_ws/src/jfxrosperceiver");
@@ -221,7 +226,6 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     values.push_back(matrix_angle_r_value);
     m_tracker.SetValues(values);
 
-    YAML::Node config = YAML::LoadFile(yaml_config.c_str());
     auto cfg = config["TRACKING"];
     m_trans = cfg["TRANS"].as<std::vector<std::vector<double>>>();