FaceContourRequestHandler.h
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00001 #ifndef FACE_CONTOUR_DETECTOR_FACECONTOURREQUESTHANDLER_H_
00002 #define FACE_CONTOUR_DETECTOR_FACECONTOURREQUESTHANDLER_H_
00003 
00004 #include <map>
00005 #include <vector>
00006 #include <string>
00007 #include <queue>
00008 #include <ros/ros.h>
00009 #include <portrait_robot_msgs/alubsc_node_instr.h>
00010 #include <sensor_msgs/Image.h>
00011 #include <opencv/cv.h>
00012 
00013 namespace face_contour_detector {
00014 
00015         class FaceContourRequestHandler {
00016         private:
00017                 //data type definitions
00018                 struct ImageMaskPair {
00019                     cv::Mat* image;
00020                     cv::Mat* mask;
00021                 };
00022 
00023                 struct WorkerSetting {
00024                         int steps;
00025                         int numResults;
00026                         std::map<std::string, std::map<std::string, double> > targetValues;
00027                 };
00028 
00029         public:
00033                 FaceContourRequestHandler(ros::NodeHandle& node, std::string exploreConfigPath);
00034             virtual ~FaceContourRequestHandler();
00035 
00037             void SolveOneRequest();
00038 
00042             bool HandleAlubscRequest(portrait_robot_msgs::alubsc_node_instr::Request  &req, portrait_robot_msgs::alubsc_node_instr::Response &res);
00043 
00044         private:
00047             void M_SendStatusMessage(const std::string& message);
00048 
00051             void M_LoadExploreSettings(std::vector<WorkerSetting>& settings);
00052 
00054             std::queue<ImageMaskPair> requests;
00055             ros::NodeHandle& node;
00056             std::string exploreConfigPath;
00057         };
00058 
00059 }
00060 
00061 #endif /* FACE_CONTOUR_DETECTOR_FACECONTOURREQUESTHANDLER_H_ */
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face_contour_detector
Author(s): Fabian Wenzelmann and Julian Schmid
autogenerated on Wed Dec 26 2012 16:18:17