EdgeConnector.cpp

Go to the documentation of this file.

#include <face_contour_detector/filters/EdgeConnector.h>
#include <string>
#include <ros/ros.h>
#include <face_contour_detector/EdgeConnector.h>
#include <cv_bridge/CvBridge.h>

namespace face_contour_detector {
        namespace filters {

                EdgeConnector::EdgeConnector(ros::NodeHandle& node) {
                        ResetParameters();
                        m_client = node.serviceClient<face_contour_detector::EdgeConnector>("connect_edges");

                }

                std::vector<Parameter> EdgeConnector::GetParameters() {
                        std::vector<Parameter> re;
                        std::string name("searchRadius");
                        re.push_back(Parameter(name, &m_searchRadius));
                        return re;
                }

                void EdgeConnector::Apply(const cv::Mat& input, cv::Mat& result) {
                        face_contour_detector::EdgeConnector srv;
                        IplImage ipl = input;
                        srv.request.input_image = *m_cvBridge.cvToImgMsg(&ipl, "mono8");
                        srv.request.search_radius = m_searchRadius;

                        if (m_client.call(srv)) {
                                if (m_cvBridge.fromImage(srv.response.output_image, "mono8")) {
                                        result = cv::Mat(m_cvBridge.toIpl(), true);
                                }

                                std::cout<<result.type()<<std::endl;
                        } else {
                                ROS_ERROR("Failed to call service contour_detector");
                                result = input;
                        }
                }

                void EdgeConnector::ResetParameters() {
                        m_searchRadius = 2;
                }

                const std::string& EdgeConnector::GetFilterName() {
                        return m_filterName;
                }

                //static
                std::string EdgeConnector::m_filterName = std::string("EdgeConnector");
        } //namespace filters
} //namespace face_contour_detector