polygon_to_mask_image.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_POLYGON_TO_MASK_IMAGE_H_
#define JSK_PERCEPTION_POLYGON_TO_MASK_IMAGE_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <geometry_msgs/PolygonStamped.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <image_geometry/pinhole_camera_model.h>
 
namespace jsk_perception
{
  class PolygonToMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    PolygonToMaskImage(): DiagnosticNodelet("PolygonToMaskImage") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void infoCallback(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    virtual void convert(
      const geometry_msgs::PolygonStamped::ConstPtr& polygon_msg);
 
    boost::mutex mutex_;
    sensor_msgs::CameraInfo::ConstPtr camera_info_;
    ros::Subscriber sub_info_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
  private:
    
  };
}
 
#endif