FilterServices.cpp

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//provides the ApplyFilters and GetFilters services

#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>

//filters
#include <face_contour_detector/filters/List.h>
#include <face_contour_detector/filters/Canny.h>
#include <face_contour_detector/filters/ColorGraphs.h>
#include <face_contour_detector/filters/DeleteShortLines.h>
#include <face_contour_detector/filters/EdgeConnectorGraphBased.h>
#include <face_contour_detector/filters/GaussianBlur.h>
#include <face_contour_detector/filters/RosServices.h>

//std
#include <vector>


int main(int argc, char* argv[]) {

        ros::init(argc, argv, "filter_services");
        ros::NodeHandle n;
    
        face_contour_detector::filters::RosServices services;
    services.AddFilter("GaussianBlur", new face_contour_detector::filters::GaussianBlur());
    services.AddFilter("Canny", new face_contour_detector::filters::Canny());
    services.AddFilter("EdgeConnector", new face_contour_detector::filters::EdgeConnectorGraphBased());
    services.AddFilter("DeleteShortLines", new face_contour_detector::filters::DeleteShortLines());

    ros::ServiceServer getService = n.advertiseService("get_filters", &face_contour_detector::filters::RosServices::HandleGetRequest, &services);
    ros::ServiceServer applyService = n.advertiseService("apply_filters", &face_contour_detector::filters::RosServices::HandleApplyRequest, &services);
    ROS_INFO("filter services ready");
    
        ros::spin();

        return 0;

}