mask_image_to_rect.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_MASK_IMAGE_TO_RECT_H_
#define JSK_PERCEPTION_MASK_IMAGE_TO_RECT_H_
 
#include <dynamic_reconfigure/server.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <jsk_recognition_msgs/RectArray.h>
#include <jsk_perception/MaskImageToRectConfig.h>
 
namespace jsk_perception
{
  class MaskImageToRect: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef MaskImageToRectConfig Config;
    MaskImageToRect(): DiagnosticNodelet("MaskImageToRect") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config& config, uint32_t level);
    virtual void convert(const sensor_msgs::Image::ConstPtr& mask_msg);
 
    int rect_type_;
    ros::Subscriber sub_mask_;
    ros::Publisher pub_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
  private:
    
  };
}
 
#endif