bing.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_BING_H_
#define JSK_PERCEPTION_BING_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <opencv2/opencv.hpp>
#include <opencv2/saliency.hpp>
 
namespace jsk_perception
{
  class Bing: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    Bing(): DiagnosticNodelet("Bing") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void apply(const sensor_msgs::Image::ConstPtr& image_msg);
 
    boost::mutex mutex_;
    ros::Subscriber sub_;
    ros::Publisher pub_rects_;
    ros::Publisher pub_objectness_;
    cv::saliency::ObjectnessBING *binger_;
    double score_threshold_;
    int max_num_;
  private:
 
  };
}
 
#endif