match_template_nodelet.cpp: enable to select mathing method from rqt_reconfigure

Author: k-okada

cfg/MatchTemplate.cfg

@@ -38,5 +38,13 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", False)
+match_type = gen.enum([gen.const("CV_TM_SQDIFF",        int_t,  0, "Sum of Ssquared Difference"),
+                       gen.const("CV_TM_SQDIFF_NORMED", int_t,  1, "Sum of Normalized Ssquared Difference"),
+                       gen.const("CV_TM_CCORR",         int_t,  2, "Correlation"),
+                       gen.const("CV_TM_CCORR_NORMED",  int_t,  3, "Normalized Correlation"),
+                       gen.const("CV_TM_CCOEFF",        int_t,  4, "Correlation of Coefficient"),
+                       gen.const("CV_TM_CCOEFF_NORMED", int_t,  5, "Normalized Correlation of Coefficient"),
+                   ], "An enum for Mathing Mehtods")
+gen.add("match_method", int_t, 0, "Matching Methods", 0, 0, 5, edit_method=match_type)
 
 exit(gen.generate(PACKAGE, "match_template", "MatchTemplate"))

src/nodelet/match_template_nodelet.cpp

@@ -88,6 +88,10 @@ namespace match_template
     void reconfigureCallback (Config & new_config, uint32_t level)
     {
       config_ = new_config;
+      if ( match_method_ != config_.match_method ) {
+        match_method_ = config_.match_method;
+        NODELET_WARN_STREAM("Change Mathing Method to " << match_method_);
+      }
     }
 
     const std::string & frameWithDefault (const std::string & frame, const std::string & image_frame)