Minor refactor

Signed-off-by: Jacob Perron <[email protected]>
ros-perception · Dec 13, 2019 · 7b7dd63 · 7b7dd63
1 parent 39aa80b
commit 7b7dd63
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Showing 2 changed files with 11 additions and 26 deletions.
diff --git a/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
@@ -85,8 +85,6 @@ class DisparityNode : public rclcpp::Node
   // contains scratch buffers for block matching
   stereo_image_proc::StereoProcessor block_matcher_;
 
-  virtual void onInit();
-
   void connectCb();
 
   void imageCb(
@@ -100,20 +98,14 @@ class DisparityNode : public rclcpp::Node
 
 DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
 : rclcpp::Node("disparity_node", options)
-{
-  onInit();
-}
-
-void DisparityNode::onInit()
 {
   using namespace std::placeholders;
 
-  // Synchronize inputs. Topic subscriptions happen on demand in the connection
-  // callback. Optionally do approximate synchronization.
-  int queue_size;
-  queue_size = this->declare_parameter("queue_size", 5);
-  bool approx;
-  approx = this->declare_parameter("approximate_sync", false);
+  // Declare/read parameters
+  int queue_size = this->declare_parameter("queue_size", 5);
+  bool approx = this->declare_parameter("approximate_sync", false);
+
+  // Synchronize callbacks
   if (approx) {
     approximate_sync_.reset(new ApproximateSync(
         ApproximatePolicy(queue_size),

diff --git a/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp b/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
@@ -85,8 +85,6 @@ class PointCloudNode : public rclcpp::Node
   image_geometry::StereoCameraModel model_;
   cv::Mat_<cv::Vec3f> points_mat_;  // scratch buffer
 
-  virtual void onInit();
-
   void connectCb();
 
   void imageCb(
@@ -98,19 +96,14 @@ class PointCloudNode : public rclcpp::Node
 
 PointCloudNode::PointCloudNode(const rclcpp::NodeOptions & options)
 : rclcpp::Node("point_cloud_node", options)
-{
-  onInit();
-}
-
-void PointCloudNode::onInit()
 {
   using namespace std::placeholders;
-  // Synchronize inputs. Topic subscriptions happen on demand in the connection
-  // callback. Optionally do approximate synchronization.
-  int queue_size;
-  queue_size = this->declare_parameter("queue_size", 5);
-  bool approx;
-  approx = this->declare_parameter("approximate_sync", false);
+
+  // Declare/read parameters
+  int queue_size = this->declare_parameter("queue_size", 5);
+  bool approx = this->declare_parameter("approximate_sync", false);
+
+  // Synchronize callbacks
   if (approx) {
     approximate_sync_.reset(new ApproximateSync(
         ApproximatePolicy(queue_size),