add test/test-match-template.test

Author: k-okada

launch/match_template.launch

@@ -4,6 +4,8 @@
   <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="false" doc="Specify whether the node displays a window to show edge image" />
   <arg name="match_method" default="0" doc="Matching method. 0:CV_TM_SQDIFF 1:CV_TM_SQDIFF_NORMED 2:CV_TM_CCORR 3:CV_TM_CCORR_NORMED 4:CV_TM_CCOEFF 5:CV_TM_CCOEFF_NORMED" />
+  <arg name="template_file" default="$(find opencv_apps)/template.png" doc="filename for template image"/>
+  <arg name="mask_file" default="$(find opencv_apps)/mask.png" doc="filename for mask image"/>
 
   <!-- match_template_nodelet.cpp -->
   <node name="$(arg node_name)" pkg="opencv_apps" type="match_template" output="screen">
@@ -12,7 +14,7 @@
     <param name="debug_view" value="$(arg debug_view)" />
     <param name="match_method" value="$(arg match_method)" />
     <param name="use_mask" value="false" />
-    <param name="template_file" value="$(find opencv_apps)/template.png" />
-    <param name="mask_file" value="$(find opencv_apps)/mask.png" />
+    <param name="template_file" value="$(arg template_file)" />
+    <param name="mask_file" value="$(arg mask_file)" />
   </node>
 </launch>

test/test-match_template.test

@@ -0,0 +1,28 @@
+<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)" />
+
+    <!-- convex_hull.cpp -->
+    <include file="$(find opencv_apps)/launch/match_template.launch" >
+      <arg name="debug_view" value="$(arg gui)" />
+      <arg name="image" value="image_rect" />
+      <arg name="template_file" value="$(find opencv_apps)/test/template.png" />
+      <arg name="mask_file" value="" />
+    </include>
+
+    <!-- Test Codes -->
+    <node name="match_template_saver" pkg="image_view" type="image_saver" args="image:=match_template/image" >
+      <param name="filename_format" value="$(find opencv_apps)/test/match_template.png"/>
+    </node>
+    <param name="match_template_test/topic" value="match_template/matched_rectangle" />    <!-- opencv_apps/ContorArrayStamped -->
+    <test test-name="match_template_test" pkg="rostest" type="hztest" name="match_template_test" >
+      <param name="hz" value="20" />
+      <param name="hzerror" value="15" />
+      <param name="test_duration" value="5.0" /> 
+    </test>
+  </group>
+</launch>