From 4802b4ba98add34fe1bd108dca71a2446487561f Mon Sep 17 00:00:00 2001
From: Angel Santamaria Navarro <asantamaria@iri.upc.edu>
Date: Tue, 17 Nov 2015 10:03:33 +0000
Subject: [PATCH] Added boolean to avoid overwrite of launch parameters when
loading nodelet.
---
cfg/ImageLocalBinarization.cfg | 4 ++--
.../image_local_binarization_alg_nodelet.h | 2 ++
src/image_local_binarization_alg_nodelet.cpp | 24 +++++++++++++++----
3 files changed, 23 insertions(+), 7 deletions(-)
diff --git a/cfg/ImageLocalBinarization.cfg b/cfg/ImageLocalBinarization.cfg
index 956bff2..6dbb37b 100755
--- a/cfg/ImageLocalBinarization.cfg
+++ b/cfg/ImageLocalBinarization.cfg
@@ -39,7 +39,7 @@ gen = ParameterGenerator()
# Name Type Reconfiguration level Description Default Min Max
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
-gen.add( "window_size", int_t, 0, "Local threshold windo size", 15, 3, 500)
-gen.add( "k", double_t, 0, "Multiplicative constant for local deviation", 0.06, 0, 0.5)
+gen.add( "window_size", int_t, 0, "Local threshold window size", 7, 3, 500)
+gen.add( "k", double_t, 0, "Multiplicative constant for local deviation", 0.09, 0, 0.5)
exit(gen.generate(PACKAGE, "ImageLocalBinarizationAlgorithm", "ImageLocalBinarization"))
diff --git a/include/image_local_binarization_alg_nodelet.h b/include/image_local_binarization_alg_nodelet.h
index 0fed768..708cf32 100644
--- a/include/image_local_binarization_alg_nodelet.h
+++ b/include/image_local_binarization_alg_nodelet.h
@@ -72,6 +72,8 @@ class ImageLocalBinarizationAlgNodelet : public algorithm_base::IriBaseAlgorithm
int window_size_;
double k_;
+ bool avoid_dynrec_overwrite_; // To avoid overwrite due to initial Dynamic Reconfigure update
+
cv_bridge::CvImageConstPtr image_;
cv_bridge::CvImagePtr image_out_;
diff --git a/src/image_local_binarization_alg_nodelet.cpp b/src/image_local_binarization_alg_nodelet.cpp
index b96a7db..15b5c98 100644
--- a/src/image_local_binarization_alg_nodelet.cpp
+++ b/src/image_local_binarization_alg_nodelet.cpp
@@ -24,8 +24,12 @@ ImageLocalBinarizationAlgNodelet::ImageLocalBinarizationAlgNodelet(ros::NodeHand
// [init action clients]
- this->window_size_ = 3;
- this->k_ = 0.06;
+ private_nh.param<int>("window_size", this->window_size_, 3 );
+ private_nh.param<double>("k", this->k_, 0.06 );
+
+ // To avoid overwrite due to Dyn Rec initial load
+ this->avoid_dynrec_overwrite_ = true;
+
}
ImageLocalBinarizationAlgNodelet::~ImageLocalBinarizationAlgNodelet(void)
@@ -90,9 +94,19 @@ void ImageLocalBinarizationAlgNodelet::node_config_update(Config &config, uint32
{
this->alg_.lock();
- this->window_size_ = config.window_size;
- this->k_ = config.k;
-
+ // Update Dyn Rec if parameters are loaded from launch file
+ if (this->avoid_dynrec_overwrite_)
+ {
+ config.window_size = this->window_size_;
+ config.k = this->k_;
+ this->avoid_dynrec_overwrite_ = false;
+ }
+ else
+ {
+ this->window_size_ = config.window_size;
+ this->k_ = config.k;
+ }
+
this->alg_.unlock();
}
--
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