Adding image/depth +namespaces as params

This works better for running the face_detector within a namespace and keeping it predictable
wg-perception · Feb 13, 2016 · 9a77696 · 9a77696
1 parent 8dc5a7e
commit 9a77696
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/face_detector/src/face_detection.cpp b/face_detector/src/face_detection.cpp
@@ -226,6 +226,10 @@ class FaceDetector
     local_nh.param("use_rgbd", use_rgbd_, false);
     local_nh.param("queue_size", queue_size, 5);
     local_nh.param("approximate_sync", approx, false);
+    local_nh.param("image_topic", image_image_, std::string("image_raw"));
+    local_nh.param("depth_topic", depth_image_, std::string("image_raw"));
+    local_nh.param("rgb_ns", rgb_ns_, std::string("rgb"));
+    local_nh.param("depth_ns", depth_ns_, std::string("depth"));
 
     if (do_display_)
     {
@@ -240,10 +244,6 @@ class FaceDetector
       faces_->initFaceDetectionDepth(1, haar_filename_, face_size_min_m, face_size_max_m, max_face_z_m, face_sep_dist_m);
 
       camera_ = nh_.resolveName("camera");
-      image_image_ = nh_.resolveName("image_topic");
-      depth_image_ = nh_.resolveName("depth_topic");
-      rgb_ns_ = nh_.resolveName("rgb_ns");
-      depth_ns_ = nh_.resolveName("depth_ns");
       camera_topic_ = ros::names::clean(camera_ + "/" + rgb_ns_ + "/" + image_image_);
       depth_topic_ = ros::names::clean(camera_ + "/" + depth_ns_ + "/" + depth_image_);
       camera_info_topic_ = ros::names::clean(camera_ + "/" + rgb_ns_ + "/camera_info");