提交gpu参数

f3b4f99d · oscar · 78d610fa · f3b4f99d
Commit f3b4f99d authored Dec 16, 2021 by oscar
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TrackingRos.cpp TrackingRos.cpp +5 -0

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--- a/TrackingRos.cpp
+++ b/TrackingRos.cpp
@@ -40,6 +40,11 @@ void TrackingRos::Init(ros::NodeHandle& nh)
    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);
+
+    m_tracker->SetGPU(gpu);
+
    YAML::Node config = YAML::LoadFile(file.c_str());