label_to_mask_image.h

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