AreaParameterChooserWorker.h

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#ifndef FACE_CONTOUR_DETECTOR_AREAPARAMETERWORKER_H_
#define FACE_CONTOUR_DETECTOR_AREAPARAMETERWORKER_H_

#include <ros/ros.h>

#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/CvBridge.h>
#include <image_transport/image_transport.h>

//service definitions
#include <face_contour_detector/GetFilters.h>
#include <face_contour_detector/ApplyFilters.h>
#include <face_contour_detector/FindFaceAreas.h>
#include <face_contour_detector/autoselect_result.h>

#include <portrait_robot_msgs/alubsc_node_instr.h>
#include <portrait_robot_msgs/alubsc_status_msg.h>


//std
#include <vector>
#include <queue>

//
#include <face_contour_detector/AutoParameterExplorer.h>
#include <face_contour_detector/KdTree.h>

#include <boost/function.hpp>

namespace face_contour_detector {
        class AreaParameterChooserWorker {
        public:
                AreaParameterChooserWorker(ros::NodeHandle& node, cv::Mat& image, cv::Mat& mask, const std::map<std::string, std::map<std::string, double> >& targetValue);

                void CallculateParameters(int numResults, int steps, std::vector<face_contour_detector::autoselect_result>& result);

        private:
                void ParamsFunction(const std::vector<double>& params, std::map<std::string, double>& result);
                double CostFunction(const std::map<std::string, double>& result, const std::map<std::string, double>& targetValue);

                void PushFilterSetup(std::map<std::string, std::vector<std::map<std::string, double> > >& params, int numResults, std::vector<face_contour_detector::autoselect_result>& result);

                void ApplyFilters(const std::vector<double>& params, std::vector<face_contour_detector::filter_area_result>& results);

                void GetAreas();

                void SendStatusMessage(const std::string& message);

                ros::NodeHandle& node;
                cv::Mat& image;
                cv::Mat bwimage;
                cv::Mat& mask;

                std::vector<face_contour_detector::image_area> areas;
                std::vector<face_contour_detector::image_area>::iterator currArea;

                std::map<std::string, std::map<std::string, double> > targetValue;

                face_contour_detector::KdTree<double, std::map<std::string, double> > kdTree;
        };

} //namespace face_contour_detector

#endif //FACE_CONTOUR_DETECTOR_AREAPARAMETERWORKER_H_