fix face_detection.launch to accept args for cascade xml

ros-perception · Aug 25, 2016 · d7595c8 · d7595c8
1 parent a644d47
commit d7595c8
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Showing 2 changed files with 11 additions and 9 deletions.
diff --git a/launch/face_detection.launch b/launch/face_detection.launch
@@ -7,18 +7,21 @@
   <arg name="use_camera_info" default="false" doc="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." />
   <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
 
+  <arg if="$(arg use_opencv3)"
+       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+  <arg if="$(arg use_opencv3)"
+       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+  <arg unless="$(arg use_opencv3)"
+       name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+  <arg unless="$(arg use_opencv3)"
+       name="eyes_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+
   <!-- face_detection.cpp -->
   <node name="$(arg node_name)" pkg="opencv_apps" type="face_detection"  >
     <remap from="image" to="$(arg image)" />
     <param name="use_camera_info" value="$(arg use_camera_info)" />
     <param name="debug_view" value="$(arg debug_view)" />
-    <param if="$(arg use_opencv3)"
-           name="face_cascade_name" value="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml" />
-    <param if="$(arg use_opencv3)"
-           name="eyes_cascade_name" value="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" />
-    <param unless="$(arg use_opencv3)"
-           name="face_cascade_name" value="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" />
-    <param unless="$(arg use_opencv3)"
-           name="eyes_cascade_name" value="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" />
+    <param name="face_cascade_name" value="$(arg face_cascade_name)" />
+    <param name="eyes_cascade_name" value="$(arg eyes_cascade_name)" />
   </node>
 </launch>
diff --git a/test/test-face_detection.test b/test/test-face_detection.test
@@ -1,6 +1,5 @@
 <launch>
   <arg name="gui" default="true" />
-  <arg name="use_opencv3" default="false" />
   <node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
 
   <group ns="wide_stereo/left" >