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optical_flow: Use functional-style parameter fetching

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This commit is contained in:
Alexey Rogachevskiy
2020-05-26 22:20:05 +03:00
committed by Oleg Kalachev
parent 2814fea9cd
commit c5e954b56a
1 changed files with 5 additions and 5 deletions
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10
clover/src/optical_flow.cpp
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@@ -64,11 +64,11 @@ private:
tf_buffer_.reset(new tf2_ros::Buffer());
tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh));
nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
nh_priv.param("roi", roi_px_, 128);
nh_priv.param("roi_rad", roi_rad_, 0.0);
nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
local_frame_id_ = nh.param<std::string>("mavros/local_position/tf/frame_id", "map");
fcu_frame_id_ = nh.param<std::string>("mavros/local_position/tf/child_frame_id", "base_link");
roi_px_ = nh_priv.param("roi", 128);
roi_rad_ = nh_priv.param("roi_rad", 0.0);
calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
img_pub_ = it_priv.advertise("debug", 1);