kmeans.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_KMEANS_H_
#define JSK_PERCEPTION_KMEANS_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_perception/KMeansConfig.h>
#include <opencv2/opencv.hpp>
 
namespace jsk_perception
{
  class KMeans: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef jsk_perception::KMeansConfig Config;
    KMeans(): DiagnosticNodelet("KMeans") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config &config, uint32_t level);
    virtual void apply(const sensor_msgs::Image::ConstPtr& image_msg);
 
    boost::mutex mutex_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    int n_clusters_;
  private:
 
  };
}
 
#endif