Enabling dynamic_reconfigure in private nodelet handler

ros-perception · Aug 18, 2016 · 8e826a4 · 8e826a4
1 parent 0051f7b
commit 8e826a4
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Showing 17 changed files with 151 additions and 100 deletions.
diff --git a/src/nodelet/camshift_nodelet.cpp b/src/nodelet/camshift_nodelet.cpp
@@ -65,8 +65,10 @@ class CamShiftNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  camshift::CamShiftConfig config_;
-  dynamic_reconfigure::Server<camshift::CamShiftConfig> srv;
+  typedef camshift::CamShiftConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
@@ -102,7 +104,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
     on_mouse_y_ = y;
   }
 
-  void reconfigureCallback(camshift::CamShiftConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
     vmin_ = config_.vmin;
@@ -161,7 +163,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
           config_.vmin = vmin_;
           config_.vmax = vmax_;
           config_.smin = smin_;
-          srv.updateConfig(config_);
+          reconfigure_server_->updateConfig(config_);
           need_config_update_ = false;
         }
       }
@@ -374,9 +376,10 @@ class CamShiftNodelet : public opencv_apps::Nodelet
     phranges = hranges;
     histimg = cv::Mat::zeros(200, 320, CV_8UC3);
 
-    dynamic_reconfigure::Server<camshift::CamShiftConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&CamShiftNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);

diff --git a/src/nodelet/contour_moments_nodelet.cpp b/src/nodelet/contour_moments_nodelet.cpp
@@ -64,8 +64,10 @@ class ContourMomentsNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  contour_moments::ContourMomentsConfig config_;
-  dynamic_reconfigure::Server<contour_moments::ContourMomentsConfig> srv;
+  typedef contour_moments::ContourMomentsConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
@@ -75,7 +77,7 @@ class ContourMomentsNodelet : public opencv_apps::Nodelet
   std::string window_name_;
   static bool need_config_update_;
 
-  void reconfigureCallback(contour_moments::ContourMomentsConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
     low_threshold_ = config_.canny_low_threshold;
@@ -251,9 +253,10 @@ class ContourMomentsNodelet : public opencv_apps::Nodelet
     window_name_ = "Contours";
     low_threshold_ = 100; // only for canny
 
-    dynamic_reconfigure::Server<contour_moments::ContourMomentsConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&ContourMomentsNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     msg_pub_ = advertise<opencv_apps::MomentArrayStamped>(*pnh_, "moments", 1);

diff --git a/src/nodelet/convex_hull_nodelet.cpp b/src/nodelet/convex_hull_nodelet.cpp
@@ -64,8 +64,10 @@ class ConvexHullNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  convex_hull::ConvexHullConfig config_;
-  dynamic_reconfigure::Server<convex_hull::ConvexHullConfig> srv;
+  typedef convex_hull::ConvexHullConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
@@ -75,7 +77,7 @@ class ConvexHullNodelet : public opencv_apps::Nodelet
   std::string window_name_;
   static bool need_config_update_;
 
-  void reconfigureCallback(convex_hull::ConvexHullConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
     threshold_ = config_.threshold;
@@ -170,7 +172,7 @@ class ConvexHullNodelet : public opencv_apps::Nodelet
       if( debug_view_) {
         if (need_config_update_) {
           config_.threshold = threshold_;
-          srv.updateConfig(config_);
+          reconfigure_server_->updateConfig(config_);
           need_config_update_ = false;
         }
         cv::createTrackbar( "Threshold:", window_name_, &threshold_, max_thresh, trackbarCallback);
@@ -224,9 +226,10 @@ class ConvexHullNodelet : public opencv_apps::Nodelet
     window_name_ = "Hull Demo";
     threshold_ = 100;
 
-    dynamic_reconfigure::Server<convex_hull::ConvexHullConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&ConvexHullNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     msg_pub_ = advertise<opencv_apps::ContourArrayStamped>(*pnh_, "hulls", 1);

diff --git a/src/nodelet/edge_detection_nodelet.cpp b/src/nodelet/edge_detection_nodelet.cpp
@@ -72,8 +72,10 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  edge_detection::EdgeDetectionConfig config_;
-  dynamic_reconfigure::Server<edge_detection::EdgeDetectionConfig> srv;
+  typedef edge_detection::EdgeDetectionConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
@@ -90,7 +92,7 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
   std::string window_name_;
   static bool need_config_update_;
 
-  void reconfigureCallback(edge_detection::EdgeDetectionConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
     canny_threshold1_ = config_.canny_threshold1;
@@ -221,7 +223,7 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
               if (need_config_update_) {
                 config_.canny_threshold1 = canny_threshold1_;
                 config_.canny_threshold2 = canny_threshold2_;
-                srv.updateConfig(config_);
+                reconfigure_server_->updateConfig(config_);
                 need_config_update_ = false;
               }
               if( window_name_ == new_window_name) {
@@ -288,9 +290,10 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
     canny_threshold1_ = 100; // only for canny
     canny_threshold2_ = 200; // only for canny
 
-    dynamic_reconfigure::Server<edge_detection::EdgeDetectionConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&EdgeDetectionNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     //msg_pub_ = local_nh_.advertise<opencv_apps::LineArrayStamped>("lines", 1, msg_connect_cb, msg_disconnect_cb);

diff --git a/src/nodelet/face_detection_nodelet.cpp b/src/nodelet/face_detection_nodelet.cpp
@@ -64,16 +64,18 @@ class FaceDetectionNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  face_detection::FaceDetectionConfig config_;
-  dynamic_reconfigure::Server<face_detection::FaceDetectionConfig> srv;
+  typedef face_detection::FaceDetectionConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
 
   cv::CascadeClassifier face_cascade_;
   cv::CascadeClassifier eyes_cascade_;
 
-  void reconfigureCallback(face_detection::FaceDetectionConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
   }
@@ -207,9 +209,10 @@ class FaceDetectionNodelet : public opencv_apps::Nodelet
     }
     prev_stamp_ = ros::Time(0, 0);
 
-    dynamic_reconfigure::Server<face_detection::FaceDetectionConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&FaceDetectionNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     msg_pub_ = advertise<opencv_apps::FaceArrayStamped>(*pnh_, "faces", 1);

diff --git a/src/nodelet/fback_flow_nodelet.cpp b/src/nodelet/fback_flow_nodelet.cpp
@@ -61,8 +61,10 @@ class FBackFlowNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  fback_flow::FBackFlowConfig config_;
-  dynamic_reconfigure::Server<fback_flow::FBackFlowConfig> srv;
+  typedef fback_flow::FBackFlowConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
@@ -72,7 +74,7 @@ class FBackFlowNodelet : public opencv_apps::Nodelet
 
   cv::Mat prevgray, gray, flow, cflow;
 
-  void reconfigureCallback(fback_flow::FBackFlowConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
   }
@@ -114,7 +116,7 @@ class FBackFlowNodelet : public opencv_apps::Nodelet
       if( debug_view_) {
         cv::namedWindow( window_name_, cv::WINDOW_AUTOSIZE );
         if (need_config_update_) {
-          srv.updateConfig(config_);
+          reconfigure_server_->updateConfig(config_);
           need_config_update_ = false;
         }
       }
@@ -205,9 +207,10 @@ class FBackFlowNodelet : public opencv_apps::Nodelet
 
     window_name_ = "flow";
 
-    dynamic_reconfigure::Server<fback_flow::FBackFlowConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&FBackFlowNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     msg_pub_ = advertise<opencv_apps::FlowArrayStamped>(*pnh_, "flows", 1);

diff --git a/src/nodelet/find_contours_nodelet.cpp b/src/nodelet/find_contours_nodelet.cpp
@@ -64,8 +64,10 @@ class FindContoursNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  find_contours::FindContoursConfig config_;
-  dynamic_reconfigure::Server<find_contours::FindContoursConfig> srv;
+  typedef find_contours::FindContoursConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
@@ -75,7 +77,7 @@ class FindContoursNodelet : public opencv_apps::Nodelet
   std::string window_name_;
   static bool need_config_update_;
 
-  void reconfigureCallback(find_contours::FindContoursConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
     low_threshold_ = config_.canny_low_threshold;
@@ -167,7 +169,7 @@ class FindContoursNodelet : public opencv_apps::Nodelet
       if( debug_view_) {
         if (need_config_update_) {
           config_.canny_low_threshold = low_threshold_;
-          srv.updateConfig(config_);
+          reconfigure_server_->updateConfig(config_);
           need_config_update_ = false;
         }
         cv::createTrackbar( "Canny thresh:", window_name_, &low_threshold_, max_thresh, trackbarCallback);
@@ -220,9 +222,10 @@ class FindContoursNodelet : public opencv_apps::Nodelet
     window_name_ = "Demo code to find contours in an image";
     low_threshold_ = 100; // only for canny
 
-    dynamic_reconfigure::Server<find_contours::FindContoursConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&FindContoursNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     msg_pub_ = advertise<opencv_apps::ContourArrayStamped>(*pnh_, "contours", 1);

diff --git a/src/nodelet/general_contours_nodelet.cpp b/src/nodelet/general_contours_nodelet.cpp
@@ -64,8 +64,10 @@ class GeneralContoursNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  general_contours::GeneralContoursConfig config_;
-  dynamic_reconfigure::Server<general_contours::GeneralContoursConfig> srv;
+  typedef general_contours::GeneralContoursConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
@@ -75,7 +77,7 @@ class GeneralContoursNodelet : public opencv_apps::Nodelet
   std::string window_name_;
   static bool need_config_update_;
 
-  void reconfigureCallback(general_contours::GeneralContoursConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
     threshold_ = config_.threshold;
@@ -197,7 +199,7 @@ class GeneralContoursNodelet : public opencv_apps::Nodelet
       if( debug_view_) {
         if (need_config_update_) {
           config_.threshold = threshold_;
-          srv.updateConfig(config_);
+          reconfigure_server_->updateConfig(config_);
           need_config_update_ = false;
         }
         cv::createTrackbar( "Threshold:", window_name_, &threshold_, max_thresh, trackbarCallback);
@@ -251,9 +253,10 @@ class GeneralContoursNodelet : public opencv_apps::Nodelet
     window_name_ = "Contours";
     threshold_ = 100;
 
-    dynamic_reconfigure::Server<general_contours::GeneralContoursConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&GeneralContoursNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     rects_pub_ = advertise<opencv_apps::RotatedRectArrayStamped>(*pnh_, "rectangles", 1);

diff --git a/src/nodelet/goodfeature_track_nodelet.cpp b/src/nodelet/goodfeature_track_nodelet.cpp
@@ -62,8 +62,10 @@ class GoodfeatureTrackNodelet : public opencv_apps::Nodelet
 
   boost::shared_ptr<image_transport::ImageTransport> it_;
 
-  goodfeature_track::GoodfeatureTrackConfig config_;
-  dynamic_reconfigure::Server<goodfeature_track::GoodfeatureTrackConfig> srv;
+  typedef goodfeature_track::GoodfeatureTrackConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
   bool debug_view_;
   ros::Time prev_stamp_;
@@ -73,7 +75,7 @@ class GoodfeatureTrackNodelet : public opencv_apps::Nodelet
 
   int max_corners_;
 
-  void reconfigureCallback(goodfeature_track::GoodfeatureTrackConfig &new_config, uint32_t level)
+  void reconfigureCallback(Config &new_config, uint32_t level)
   {
     config_ = new_config;
     max_corners_ = config_.max_corners;
@@ -130,7 +132,7 @@ class GoodfeatureTrackNodelet : public opencv_apps::Nodelet
         cv::createTrackbar( "Max corners", window_name_, &max_corners_, maxTrackbar, trackbarCallback);
         if (need_config_update_) {
           config_.max_corners = max_corners_;
-          srv.updateConfig(config_);
+          reconfigure_server_->updateConfig(config_);
           need_config_update_ = false;
         }
       }
@@ -223,9 +225,10 @@ class GoodfeatureTrackNodelet : public opencv_apps::Nodelet
     window_name_ = "Image";
     max_corners_ = 23;
 
-    dynamic_reconfigure::Server<goodfeature_track::GoodfeatureTrackConfig>::CallbackType f =
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind(&GoodfeatureTrackNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    reconfigure_server_->setCallback(f);
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     msg_pub_ = advertise<opencv_apps::Point2DArrayStamped>(*pnh_, "corners", 1);