[backport iron] enable autosize parameter in disparity view (#875) (#898

) backport #875 Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
ros-perception · Jan 19, 2024 · 0156c83 · 0156c83
1 parent 08c295b
commit 0156c83
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/image_view/include/image_view/disparity_view_node.hpp b/image_view/include/image_view/disparity_view_node.hpp
@@ -41,6 +41,7 @@ class DisparityViewNode
  static unsigned char colormap[];
 
  std::string window_name_;
+ bool autosize_;
  rclcpp::Subscription<stereo_msgs::msg::DisparityImage>::SharedPtr sub_;
  cv::Mat_<cv::Vec3b> disparity_color_;
  bool initialized;

diff --git a/image_view/src/disparity_view_node.cpp b/image_view/src/disparity_view_node.cpp
@@ -78,9 +78,7 @@ DisparityViewNode::DisparityViewNode(const rclcpp::NodeOptions & options)
 
  // Default window name is the resolved topic name
  window_name_ = this->declare_parameter("window_name", topic);
- // bool autosize = this->declare_parameter("autosize", false);
-
- // cv::namedWindow(window_name_, autosize ? cv::WND_PROP_AUTOSIZE : 0);
+ autosize_ = this->declare_parameter("autosize", false);
 
  sub_ = this->create_subscription<stereo_msgs::msg::DisparityImage>(
  topic, rclcpp::QoS(10), std::bind(&DisparityViewNode::imageCb, this, std::placeholders::_1));
@@ -110,7 +108,7 @@ void DisparityViewNode::imageCb(const stereo_msgs::msg::DisparityImage::SharedPt
  }
 
  if (!initialized) {
- cv::namedWindow(window_name_, false ? cv::WND_PROP_AUTOSIZE : 0);
+ cv::namedWindow(window_name_, autosize_ ? cv::WND_PROP_AUTOSIZE : 0);
  initialized = true;
  }