提交更新

ros2/TrackingRos2.cpp

@@ -3,7 +3,6 @@
 #include "Component.h"
 #include <eigen3/Eigen/Dense>
 #include <math.h>
-#include <yaml-cpp/yaml.h>
 #include "yaml_parser.h"
 // #include "TransformPos.h"
 #include <chrono>
@@ -27,22 +26,21 @@ namespace juefx_tracking {
         //获取yaml文件
         std::string root_dir = this->declare_parameter<std::string>("root_dir", std::string(""));
         int run_mode = this->declare_parameter<int>("run_mode", 1);
-        YAML::Node config;
         if (run_mode == 1)
         {
             std::string entry_yaml = this->declare_parameter<std::string>("entry_yaml", std::string(""));
             QichechengYamlParser parser;
             int ret = parser.parse_yaml(entry_yaml, root_dir);
             if (ret != 0)return;
-            config = parser.entry["TRACKING_YAML_NODE"];
+            m_config = parser.entry["TRACKING_YAML_NODE"];
         }
         else
         {
             std::string config_yaml = this->declare_parameter<std::string>("unittest_yaml", std::string(""));
-            config = YAML::LoadFile(config_yaml);
+            m_config = YAML::LoadFile(config_yaml);
         }
 
-        m_tracking.Init(root_dir,config,[=](objTrackListPtr objsPtr){
+        m_tracking.Init(root_dir,m_config,[=](objTrackListPtr objsPtr){
             TrackingPorcess(objsPtr);
         });
     }

ros2/TrackingRos2.h

@@ -5,6 +5,7 @@
 
 #include <opencv2/core.hpp>
 #include <opencv2/highgui.hpp>
+#include <yaml-cpp/yaml.h>
 
 #include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp"
 #include "tier4_perception_msgs/msg/detected_object_with_feature.hpp"
@@ -40,6 +41,7 @@ class TrackingRos2 : public rclcpp::Node {
 
 
     TrackingObj m_tracking;
+    YAML::Node m_config;
 };
 
 }  // namespace juefx_tracking