face_recognizer_node.h

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#ifndef __FACE_RECOGNIZER_NODE_H__
#define __FACE_RECOGNIZER_NODE_H__

#ifdef __LINUX__
#include "cob_people_detection/face_recognizer.h"
#else
#endif

// ROS includes
#include <ros/ros.h>
#include <ros/package.h>                // use as: directory_ = ros::package::getPath("cob_people_detection") + "/common/files/windows/";
// ROS message includes
#include <sensor_msgs/Image.h>
#include <geometry_msgs/Point.h>
#include <cob_perception_msgs/DetectionArray.h>
#include <cob_perception_msgs/ColorDepthImageArray.h>

// Actions
#include <actionlib/server/simple_action_server.h>
#include <cob_people_detection/loadModelAction.h>

//boost includes

#include<boost/filesystem.hpp>

namespace ipa_PeopleDetector
{

typedef actionlib::SimpleActionServer<cob_people_detection::loadModelAction> LoadModelServer;

class FaceRecognizerNode
{
public:

        FaceRecognizerNode(ros::NodeHandle nh);
        ~FaceRecognizerNode(void); 


protected:

        void facePositionsCallback(const cob_perception_msgs::ColorDepthImageArray::ConstPtr& face_positions);
        //void facePositionsCallback(const cob_perception_msgs::ColorDepthImageCropArray::ConstPtr& face_positions);

        bool determine3DFaceCoordinates(cv::Mat& depth_image, int center2Dx, int center2Dy, geometry_msgs::Point& center3D, int search_radius);

        void loadModelServerCallback(const cob_people_detection::loadModelGoalConstPtr& goal);

        ros::NodeHandle node_handle_;

        ros::Subscriber face_position_subscriber_; 

        ros::Publisher face_recognition_publisher_; 

        LoadModelServer* load_model_server_; 

        FaceRecognizer face_recognizer_; 


        // parameters
        std::string data_directory_; 
        std::string classifier_directory_; 
        bool enable_face_recognition_; 
        bool display_timing_;

};

} // end namespace

#endif // __FACE_RECOGNIZER_NODE_H__