leaf_segmentation_alg.cpp

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#include "leaf_segmentation_alg.h"

LeafSegmentationAlgorithm::LeafSegmentationAlgorithm(void):sigma_(0.5)
{

}

LeafSegmentationAlgorithm::~LeafSegmentationAlgorithm(void)
{
}

void LeafSegmentationAlgorithm::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();

    ROS_INFO("Reconfigure request: %f, level %d", new_cfg.sigma, level);
    ROS_INFO("Reconfigure request: %f, level %d", new_cfg.k, level);
    ROS_INFO("Reconfigure request: %d, level %d", new_cfg.min_size, level);
 
    set_sigma(new_cfg.sigma);  
    set_k(new_cfg.k);
    set_min_size(new_cfg.min_size);

  // save the current configuration
  this->config_=new_cfg;
  
  this->unlock();
}

// LeafSegmentationAlgorithm Public API

void LeafSegmentationAlgorithm::set_sigma(float new_sigma){
    sigma_ = new_sigma;
}

void LeafSegmentationAlgorithm::set_k(float new_k){
    k_ = new_k;
}

void LeafSegmentationAlgorithm::set_min_size(int new_min_size){
    min_size_ = new_min_size;
}

float LeafSegmentationAlgorithm::get_sigma(){
    return sigma_;
}

float LeafSegmentationAlgorithm::get_k(){
    return k_;
}

int LeafSegmentationAlgorithm::get_min_size(){
    return min_size_;
}