concave_hull_mask_image.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_CONCAVE_HULL_MASK_IMAGE_H_
#define JSK_PERCEPTION_CONCAVE_HULL_MASK_IMAGE_H_
 
#include <opencv2/opencv.hpp>
 
#include <dynamic_reconfigure/server.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_perception/ConcaveHullMaskImageConfig.h>
 
 
namespace jsk_perception
{
  class ConcaveHullMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    ConcaveHullMaskImage(): DiagnosticNodelet("ConcaveHullMaskImage") {}
    typedef jsk_perception::ConcaveHullMaskImageConfig Config;
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback (Config &config, uint32_t level);
    virtual void concave(
      const sensor_msgs::Image::ConstPtr& mask_msg);
 
    boost::mutex mutex_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
 
    double min_area_;
    double max_area_;
  private:
  };
}
 
#endif