image_resizer_nodelet.h

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// -*- mode: C++ -*-

#ifndef IMAGE_RESIZER_NODELET_H_
#define IMAGE_RESIZER_NODELET_H_

#include "resized_image_transport/image_processing_nodelet.h"
#include "resized_image_transport/ImageResizerConfig.h"
#include <sensor_msgs/image_encodings.h>

namespace resized_image_transport
{
  class ImageResizer : public resized_image_transport::ImageProcessing
  {
  public:
  protected:
    typedef dynamic_reconfigure::Server<ImageResizerConfig> ReconfigureServer;
    boost::shared_ptr<ReconfigureServer> reconfigure_server_;
    int interpolation_;

  protected:
    void onInit();
    void initReconfigure();
    void initParams();
    void mask_region_callback(const sensor_msgs::Image::ConstPtr& msg);
    void config_cb (ImageResizerConfig &config, uint32_t level);
    void process(const sensor_msgs::ImageConstPtr &src_img, const sensor_msgs::CameraInfoConstPtr &src_info,
                 sensor_msgs::ImagePtr &dst_img, sensor_msgs::CameraInfo &dst_info);
    virtual void subscribe();
    virtual void unsubscribe();
    
    ros::Subscriber sub_;
    int raw_width_, raw_height_;
  };
}
#endif