RosServices.h

Go to the documentation of this file.

#ifndef FACE_CONTOUR_DETECTOR_FILTER_ROSSERVICES_H_
#define FACE_CONTOUR_DETECTOR_FILTER_ROSSERVICES_H_

#include <ros/ros.h>
//service definitions
#include <face_contour_detector/GetFilters.h>
#include <face_contour_detector/ApplyFilters.h>
//message definitions
#include <face_contour_detector/name_value_pair.h>
//std
#include <map>
//filter
#include <face_contour_detector/filters/Filter.h>

namespace face_contour_detector {
        namespace filters {
                class RosServices {
                public:
                        RosServices();
                        ~RosServices();

                        void AddFilter(std::string name, Filter* filter);
                        bool HandleApplyRequest(face_contour_detector::ApplyFilters::Request& request, face_contour_detector::ApplyFilters::Response& response);
                        bool HandleGetRequest(face_contour_detector::GetFilters::Request& request, face_contour_detector::GetFilters::Response& response);

                protected:
                        void M_ExtractProperties(cv::Mat& image, std::vector<face_contour_detector::name_value_pair>& result);
                        bool M_SetupFilter(face_contour_detector::filter_setup& filterSetup, Filter*& filter);
                        std::map<std::string, Filter*> m_filters;
                };
        } //namespace filters
}  //namespace face_contour_detector

#endif //FACE_CONTOUR_DETECTOR_FILTER_ROSSERVICES_H_