blob_detector.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_perception/BlobDetectorConfig.h>
#include <sensor_msgs/Image.h>

namespace jsk_perception
{
  class BlobDetector: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef BlobDetectorConfig Config;
    BlobDetector() : DiagnosticNodelet("BlobDetector") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void detect(
      const sensor_msgs::Image::ConstPtr& image_msg);
    virtual void configCallback(Config &config, uint32_t level);

    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
    boost::mutex mutex_;
    
    int min_area_;
  private:
    
  };
}

#endif