split_image.h

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// -*- mode: c++ -*-
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/*
 * split_image.h
 * Author: Yoshiki Obinata <obinata@jsk.imi.i.u-tokyo.ac.jp>
 */
 
 
#ifndef SPLIT_IMAGE_H_
#define SPLIT_IMAGE_H_
 
#include <cv_bridge/cv_bridge.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
 
namespace jsk_perception{
 
    class SplitImage : public jsk_topic_tools::DiagnosticNodelet{
 
    public:
        SplitImage() : DiagnosticNodelet("SplitImage"){}
        virtual ~SplitImage();
    protected:
        virtual void onInit();
        virtual void subscribe();
        virtual void unsubscribe();
        virtual void splitImage(const sensor_msgs::Image::ConstPtr& image_msg);
 
        ros::Subscriber sub_;
        std::vector<ros::Publisher> pubs_;
        int vertical_parts_;
        int horizontal_parts_;
    private:
    };
};
 
#endif // SPLIT_IMAGE_H_