ParameterAutoselecter.cpp

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#include <ros/ros.h>
#include <ros/package.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 <portrait_robot_msgs/alubsc_node_instr.h>

//std
#include <vector>
#include <queue>
#include <map>
#include <string>
#include <iostream>

#include <face_contour_detector/FaceContourRequestHandler.h>

//main

int main(int argc, char* argv[]) {
    
        ros::init(argc, argv, "parameter_autoselect");
        ros::NodeHandle n;

        std::string path = ros::package::getPath("face_contour_detector");
        path = path.append("/config/explore_settings.xml");
    
        ROS_INFO("parameter autoselector ready");
        ros::Rate loop_rate(10);
        face_contour_detector::FaceContourRequestHandler reqHandler = face_contour_detector::FaceContourRequestHandler(n, path);
        ros::ServiceServer service = n.advertiseService("contour_detector", &face_contour_detector::FaceContourRequestHandler::HandleAlubscRequest, &reqHandler);
        while(ros::ok()) {
                reqHandler.SolveOneRequest();
                ros::spinOnce();
                loop_rate.sleep();
        }
        return 0;
    
}