ycc_decomposer.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_YCC_DECOMPOSER_H_
#define JSK_PERCEPTION_YCC_DECOMPOSER_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>

namespace jsk_perception
{
  class YCCDecomposer: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    YCCDecomposer(): DiagnosticNodelet("YCCDecomposer") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void decompose(
      const sensor_msgs::Image::ConstPtr& image_msg);
    ros::Subscriber sub_;
    ros::Publisher pub_y_;
    ros::Publisher pub_cr_;
    ros::Publisher pub_cb_;
  private:
    
  };
}


#endif