FaceContourRequestHandler.h

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#ifndef FACE_CONTOUR_DETECTOR_FACECONTOURREQUESTHANDLER_H_
#define FACE_CONTOUR_DETECTOR_FACECONTOURREQUESTHANDLER_H_

#include <map>
#include <vector>
#include <string>
#include <queue>
#include <ros/ros.h>
#include <portrait_robot_msgs/alubsc_node_instr.h>
#include <sensor_msgs/Image.h>
#include <opencv/cv.h>

namespace face_contour_detector {

        class FaceContourRequestHandler {
        private:
                //data type definitions
                struct ImageMaskPair {
                    cv::Mat* image;
                    cv::Mat* mask;
                };

                struct WorkerSetting {
                        int steps;
                        int numResults;
                        std::map<std::string, std::map<std::string, double> > targetValues;
                };

        public:
                FaceContourRequestHandler(ros::NodeHandle& node, std::string exploreConfigPath);
            virtual ~FaceContourRequestHandler();

            void SolveOneRequest();

            bool HandleAlubscRequest(portrait_robot_msgs::alubsc_node_instr::Request  &req, portrait_robot_msgs::alubsc_node_instr::Response &res);

        private:
            void M_SendStatusMessage(const std::string& message);

            void M_LoadExploreSettings(std::vector<WorkerSetting>& settings);

            std::queue<ImageMaskPair> requests;
            ros::NodeHandle& node;
            std::string exploreConfigPath;
        };

}

#endif /* FACE_CONTOUR_DETECTOR_FACECONTOURREQUESTHANDLER_H_ */