Clarify with auto_beta for auto beta settings

wkentaro · Mar 19, 2017 · 655f10b · 655f10b
1 parent a0d7e84
commit 655f10b
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/cfg/AddingImages.cfg b/cfg/AddingImages.cfg
@@ -9,7 +9,7 @@ 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.", True)
 
 gen.add("alpha", double_t, 0, "weight of the first array elements.", 0.5, 0.0, 1.0)
-gen.add("use_beta", bool_t, 0, "True: Automatically set beta weight as 1 - alpha, False: Use user defined beta weight", False)
+gen.add("auto_beta", bool_t, 0, "True: Automatically set beta weight as 1 - alpha, False: Use user defined beta weight", True)
 gen.add("beta", double_t, 0, "weight of the second array elements.", 0.5, 0.0, 1.0)
 gen.add("gamma", double_t, 0, "scalar added to each sum.", 0, 0, 255)
 

diff --git a/src/nodelet/adding_images_nodelet.cpp b/src/nodelet/adding_images_nodelet.cpp
@@ -155,11 +155,11 @@ namespace adding_images {
       boost::mutex::scoped_lock lock(mutex_);
       config_ = config;
       alpha_ = config.alpha;
-      if ( config.use_beta ) {
-        beta_ = config.beta;
-      } else {
+      if ( config.auto_beta ) {
         beta_ = 1.0 - alpha_;
         config.beta = beta_;
+      } else {
+        beta_ = config.beta;
       }
       gamma_ = config.gamma;
     }