/home/fwph/code/wurde/modules/visionModule/Operators/face/FaceOperator.H

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#ifndef __BLOBOPERATOR_H__
#define __BLOBOPERATOR_H__

#include <string>
#include <cmvision.h>
#include <map>
#ifdef LOCALBUILD
  #include "/project/robotics/build/role/src/robot/modules/visionModule/visionModule.H"
#else 
  //Needed to be changed but retained for cvs
  #include "../visionModule.H"
#endif
#include <BlobFinder.H>
#include <ImageSource.H>
#include <RoleConfiguration.H>
#include <Logger.H>
#include <RangeFinder.H>
#include <PTUnit.H>

//#include "cv.h"
//#include "highgui.h"

#include <FaceDetector.H>

using namespace RobotObjects;

namespace RobotVision {

              class FaceOperator : public VisionOperator {
public:
                     FaceOperator(std::string pName);
                     ~FaceOperator();
                     
                     void initOperator();
                     void runOperator(RobotObjects::RoleImage image, RobotObjects::RoleImage stereo){}
                     void runOperator(RobotObjects::RoleImage someImage);
                     void quitOperator();
protected:

         void GetPTUData(double *pPan, double *pTilt);
         void GetLaserData(double *data);
         void GetClosedLaserData(double *pOut);
         void DrawLaserDataDots(IplImage *pImg, double *pData, unsigned char r, unsigned char g, unsigned char b);
         CvHaarClassifierCascade* mCascade;
         CvMemStorage* mStorage;
         
         RangeFinder mRangeFinder;                   
         PTUnit mPtu;
         FaceDetector mFaceDetector;
                     
         double mMinHeight, mMaxHeight;
         double mMinSize, mMaxSize;
         int mFrames;
         Time mBegin, mEnd;
                     int count;
};

};

#endif

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