Program Listing for File crop_non_zero.hpp

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// Copyright 2008, 2019 Willow Garage, Inc., Steve Macenski, Joshua Whitley
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#ifndef IMAGE_PROC__CROP_NON_ZERO_HPP_
#define IMAGE_PROC__CROP_NON_ZERO_HPP_

#include <mutex>
#include <string>

#include <image_transport/image_transport.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>

namespace image_proc
{

class CropNonZeroNode : public rclcpp::Node
{
public:
  explicit CropNonZeroNode(const rclcpp::NodeOptions &);

private:
  std::string image_topic_;

  // Subscriptions
  image_transport::Subscriber sub_raw_;

  // Publications
  std::mutex connect_mutex_;

  image_transport::Publisher pub_;

  void imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg);
};
}  // namespace image_proc
#endif  // IMAGE_PROC__CROP_NON_ZERO_HPP_