mask_image_to_roi.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_MASK_IMAGE_TO_ROI_H_
#define JSK_PERCEPTION_MASK_IMAGE_TO_ROI_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
 
namespace jsk_perception
{
  class MaskImageToROI: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    MaskImageToROI(): DiagnosticNodelet("MaskImageToROI") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(const sensor_msgs::Image::ConstPtr& mask_msg);
    virtual void infoCallback(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);
 
    ros::Subscriber sub_mask_;
    ros::Subscriber sub_info_;
    ros::Publisher pub_;
    boost::mutex mutex_;
    sensor_msgs::CameraInfo::ConstPtr latest_camera_info_;
    
  private:
    
  };
}
 
#endif