lab_decomposer.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_LAB_DECOMPOSER_H_
#define JSK_PERCEPTION_LAB_DECOMPOSER_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
 
namespace jsk_perception
{
  class LabDecomposer: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    LabDecomposer(): DiagnosticNodelet("LabDecomposer") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void decompose(
      const sensor_msgs::Image::ConstPtr& image_msg);
    ros::Subscriber sub_;
    ros::Publisher pub_l_;
    ros::Publisher pub_a_;
    ros::Publisher pub_b_;
  private:
    
  };
}
 
 
#endif