修改默认参数

TrackingRos.cpp

@@ -162,13 +162,13 @@ TrackingRos::~TrackingRos()
 void TrackingRos::Init(ros::NodeHandle& nh)
 {
     std::string folder,yaml;
-    nh.param<std::string>("project_path", folder, "");
-    nh.param<std::string>("yaml_config", yaml, "none");
+    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());
 
     int gpu = 0;
-    nh.param<int32_t>("kf_gpu", gpu, 0);
+    nh.param<int32_t>("kf_gpu", gpu, 1);
 
     SDK_LOG(SDK_INFO, "kf_gpu = %d",gpu);
     m_tracker.SetGPU(gpu);
@@ -185,7 +185,7 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     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, 2);
+    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;