修改读取配置逻辑

TrackingRos.cpp

@@ -194,44 +194,55 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     //std::string file = folder + yaml;
 
     int gpu = 0;
-    gpu = m_config["kf_gpu"].as<int32_t>();
+    if(m_config["kf_gpu"])
+        gpu = m_config["kf_gpu"].as<int32_t>();
+    else
+        SDK_LOG(SDK_INFO, "can not load kf_gpu ");
     //nh.param<int32_t>("kf_gpu", gpu, 0);
-
     SDK_LOG(SDK_INFO, "kf_gpu = %d",gpu);
     m_tracker.SetGPU(gpu);
 
-    m_lidar_x_angle = m_config["lidar_x_angle"].as<float>();
+    if(m_config["lidar_x_angle"])
+        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;
-    threshold = m_config["iou_threshold"].as<float>();
+    float threshold = 0.00001;
+    if(m_config["iou_threshold"])
+        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;
-    max_coastcycles = m_config["max_coastcycles"].as<int32_t>();
+    int max_coastcycles = 1;
+    if(m_config["max_coastcycles"])
+        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;
-    update_valid_count = m_config["update_valid_count"].as<int32_t>();
+    int update_valid_count = 2;
+    if(m_config["update_valid_count"])
+        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;
-    matrix_angle_r_value = m_config["matrix_angle_r_value"].as<float>();
+    float matrix_angle_r_value = 1;
+    if(m_config["matrix_angle_r_value"])
+        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);
 
-    auto cfg = config;
-    m_trans = cfg["TRANS"].as<std::vector<std::vector<double>>>();
+    if (config["TRANS"])
+        m_trans = config["TRANS"].as<std::vector<std::vector<double>>>();
+    else
+        SDK_LOG(SDK_INFO, "can not load TRANS from yaml");
 
-    auto cfg2 = config;
-    m_kitti2origin = cfg2["KITTI2ORIGIN"].as<std::vector<std::vector<double>>>();
+    if(config["KITTI2ORIGIN"])
+        m_kitti2origin = config["KITTI2ORIGIN"].as<std::vector<std::vector<double>>>();
+    else
+        SDK_LOG(SDK_INFO, "can not load KITTI2ORIGIN from yaml");
 
     SDK_LOG(SDK_INFO, "trans = [%s]", GetMatrixStr(m_trans, 4, 4).c_str());
     SDK_LOG(SDK_INFO, "kitti2origin = [%s]", GetMatrixStr(m_kitti2origin,4,4).c_str());