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<launch>
<arg name="gui" default="true" />
<node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
<group ns="wide_stereo/left" >
<node name="image_proc" pkg="image_proc" type="image_proc" />
<node name="image_view" pkg="image_view" type="image_view" args="image:=image_rect_color" if="$(arg gui)" />
<!-- edge_detection.cpp -->
<!-- 0: Sobel -->
<include file="$(find opencv_apps)/launch/edge_detection.launch" >
<arg name="debug_view" value="$(arg gui)" />
<arg name="image" value="image_rect" />
<arg name="edge_type" value="0" />
<arg name="node_name" value="edge_sobel_detection" />
</include>
<!-- Test Codes -->
<node name="edge_sobel_detection_saver" pkg="image_view" type="image_saver" args="image:=edge_sobel_detection/image" >
<param name="filename_format" value="$(find opencv_apps)/test/edge_sobel_detection.png"/>
</node>
<param name="edge_sobel_detection_test/topic" value="edge_sobel_detection/image" /> <!-- opencv_apps/FaceArrayStamped -->
<test test-name="edge_sobel_detection_test" pkg="rostest" type="hztest" name="edge_sobel_detection_test" >
<param name="hz" value="20" />
<param name="hzerror" value="15" />
<param name="test_duration" value="5.0" />
</test>
<!-- 1: Laplace -->
<include file="$(find opencv_apps)/launch/edge_detection.launch" >
<arg name="debug_view" value="$(arg gui)" />
<arg name="image" value="image_rect" />
<arg name="edge_type" value="1" />
<arg name="node_name" value="edge_laplace_detection" />
</include>
<!-- Test Codes -->
<node name="edge_laplace_detection_saver" pkg="image_view" type="image_saver" args="image:=edge_laplace_detection/image" >
<param name="filename_format" value="$(find opencv_apps)/test/edge_laplace_detection.png"/>
</node>
<param name="edge_laplace_detection_test/topic" value="edge_laplace_detection/image" /> <!-- opencv_apps/FaceArrayStamped -->
<test test-name="edge_laplace_detection_test" pkg="rostest" type="hztest" name="edge_laplace_detection_test" >
<param name="hz" value="20" />
<param name="hzerror" value="15" />
<param name="test_duration" value="5.0" />
</test>
<!-- 2: Canny -->
<include file="$(find opencv_apps)/launch/edge_detection.launch" >
<arg name="debug_view" value="$(arg gui)" />
<arg name="image" value="image_rect" />
<arg name="edge_type" value="2" />
<arg name="node_name" value="edge_canny_detection" />
</include>
<!-- Test Codes -->
<node name="edge_canny_detection_saver" pkg="image_view" type="image_saver" args="image:=edge_canny_detection/image" >
<param name="filename_format" value="$(find opencv_apps)/test/edge_canny_detection.png"/>
</node>
<param name="edge_canny_detection_test/topic" value="edge_canny_detection/image" /> <!-- opencv_apps/FaceArrayStamped -->
<test test-name="edge_canny_detection_test" pkg="rostest" type="hztest" name="edge_canny_detection_test" >
<param name="hz" value="20" />
<param name="hzerror" value="15" />
<param name="test_duration" value="5.0" />
</test>
</group>
</launch>
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