test_client.cpp

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/*
 * test_client.cpp
 *
 *  Created on: Nov 23, 2010
 *      Author: christian
 */



#include <ros/ros.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include "cv_bridge/cv_bridge.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/CameraInfo.h"
#include "camera_self_filter/mask.h"





int main(int argc, char **argv) {
        ros::init(argc, argv, "robot_self_filter_test");

        ros::NodeHandle nh;
        ros::ServiceClient svc = nh.serviceClient<camera_self_filter::mask>("self_mask");

        cv::namedWindow("alpha");

        while (nh.ok()){

                camera_self_filter::mask servicecall;
                servicecall.request.header.frame_id = "narrow_stereo_optical_frame";
                servicecall.request.header.stamp = ros::Time::now();
                svc.call(servicecall);

                sensor_msgs::Image mask = servicecall.response.mask_image;

                printf("width %d height %d", mask.width, mask.height);

                sensor_msgs::ImageConstPtr maskptr = boost::make_shared<sensor_msgs::Image>(boost::ref(servicecall.response.mask_image));
            cv_bridge::CvImagePtr cv_ptr;
            try
            {
              cv_ptr = cv_bridge::toCvCopy(maskptr, "passthrough");
            }
            catch (cv_bridge::Exception& e)
            {
              ROS_ERROR("cv_bridge exception: %s", e.what());
              return 0;
            }

            cv::imshow("alpha", cv_ptr->image);

                cvWaitKey();

        }

        return 0;
}