skeletonization.h

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// -*- mode: c++ -*- 
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#ifndef JSK_PERCEPTION_SKELETONIZATION_H
#define JSK_PERCEPTION_SKELETONIZATION_H
 
// ROS Header Directives
#include <ros/ros.h>
#include <ros/console.h>
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
 
// OpenCV Header Directives
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
 
#include <omp.h>
 
namespace jsk_perception
{
   class Skeletonization: public jsk_topic_tools::DiagnosticNodelet
   {
    public:
      Skeletonization(): DiagnosticNodelet("Skeletonization"),
                         num_threads_(1) {}
      virtual void imageCallback(const sensor_msgs::Image::ConstPtr&);
      virtual void skeletonization(cv::Mat &);
      
    protected:
      virtual void onInit();
      virtual void subscribe();
      virtual void unsubscribe();
      virtual void iterativeThinning(cv::Mat&, int);
         
      boost::mutex mutex_;
      ros::Subscriber sub_;
      ros::Publisher pub_image_;
      
    private:
      enum { EVEN, ODD };
      int num_threads_;
   };
}
 
#endif  // JSK_PERCEPTION_SKELETONIZATION_H