snake_segmentation.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_SNAKE_SEGMENTATION_H_
#define JSK_PERCEPTION_SNAKE_SEGMENTATION_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <jsk_perception/SnakeSegmentationConfig.h>
#include <dynamic_reconfigure/server.h>
 
namespace jsk_perception
{
  class SnakeSegmentation: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef SnakeSegmentationConfig Config;
    SnakeSegmentation(): DiagnosticNodelet("SnakeSegmentation") {};
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void segment(const sensor_msgs::Image::ConstPtr& image_msg);
    virtual void configCallback(Config &config, uint32_t level);
 
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Publisher pub_debug_;
    ros::Subscriber sub_;
    boost::mutex mutex_;
 
    // parameters
    double alpha_;
    double beta_;
    double gamma_;
    int window_size_;
    int max_iterations_;
    double epsilon_;
  private:
    
  };
}
 
#endif