bool initialize(int argc, char ** argv)
{
ros::init (argc, argv, "SegmenationAndClassificationDemo");
n_ = new ros::NodeHandle ( "~" );
std::string service_name_seg = "/pcl_segmentation_service/pcl_segmentation";
std::string service_name_classify = "/classifier_service/classify";
srv_client_seg = n_->serviceClient<segmentation_srv_definitions::segment>(service_name_seg);
srv_client_classify = n_->serviceClient<classifier_srv_definitions::classify>(service_name_classify);
n_->getParam ( "input_method", input_method_ );
if ( input_method_ == 0 )
{
if(!n_->getParam ( "topic", topic_ ))
{
topic_ = "/camera/depth_registered/points";
}
std::cout << "Trying to connect to camera on topic " <<
topic_ << ". You can change the topic with param topic or " <<
" test pcd files from a directory by using input_method=1 and specifying param directory. " << std::endl;
if ( checkKinect() )
{
std::cout << "Camera (topic: " << topic_ << ") is up and running." << std::endl;
ros::Subscriber sub_pc = n_->subscribe (topic_, 1, &SegmenationAndClassifyDemo::callUsingCam, this);
ros::spin();
}
else
{
std::cerr << "Camera (topic: " << topic_ << ") is not working." << std::endl;
return false;
}
}
else //input_method==1
{
if(n_->getParam ( "directory", directory_ ) && directory_.length())
{
callUsingFiles();
}
else
{
std::cout << "No test directory (param directory) specified. " << std::endl;
return false;
}
}
return true;
}
bool initialize(int argc, char ** argv)
{
ros::init (argc, argv, "MultiViewRecognizerDemoFromFiles");
n_ = new ros::NodeHandle ( "~" );
std::string service_name_sv_rec = "/multiview_recognition_service/multiview_recognition_service";
sv_rec_client_ = n_->serviceClient<recognition_srv_definitions::recognize>(service_name_sv_rec);
n_->getParam ( "input_method", input_method_ );
if ( input_method_ == 0 )
{
if(!n_->getParam ( "topic", topic_ ))
{
topic_ = "/camera/depth_registered/points";
}
std::cout << "Trying to connect to camera on topic " <<
topic_ << ". You can change the topic with param topic or " <<
" test pcd files from a directory by using input_method=1 and specifying param directory. " << std::endl;
if ( checkKinect() )
{
std::cout << "Camera (topic: " << topic_ << ") is up and running." << std::endl;
ros::Subscriber sub_pc = n_->subscribe (topic_, 1, &MultiViewRecognizerDemo::callMvRecognizerUsingCam, this);
ros::spin();
}
else
{
std::cerr << "Camera (topic: " << topic_ << ") is not working." << std::endl;
return false;
}
}
else //input_method==1
{
if(n_->getParam ( "directory", directory_ ) && directory_.length())
{
callMvRecognizerUsingFiles();
}
else
{
std::cout << "No test directory (param directory) specified. " << std::endl;
return false;
}
}
return true;
}
bool initialize(int argc, char ** argv)
{
checkKinect();
return KINECT_OK_;
}
