invert_mask_image.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_INVERT_MASK_IMAGE_H_
#define JSK_PERCEPTION_INVERT_MASK_IMAGE_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <ros/ros.h>
 
 
namespace jsk_perception
{
  class InvertMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    InvertMaskImage(): DiagnosticNodelet("InvertMaskImage") {}
    virtual ~InvertMaskImage();
  protected:
 
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void invert(const sensor_msgs::Image::ConstPtr& mask_msg);
 
    boost::mutex mutex_;
    ros::Subscriber sub_mask_;
    ros::Publisher pub_mask_;
  private:
  };
}
 
#endif