label_to_cluster_point_indices.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_LABEL_TO_CLUSTER_POINT_INDICES_H_
#define JSK_PCL_ROS_UTILS_LABEL_TO_CLUSTER_POINT_INDICES_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
 
namespace jsk_pcl_ros_utils
{
 
class LabelToClusterPointIndices: public jsk_topic_tools::DiagnosticNodelet
{
public:
  LabelToClusterPointIndices(): DiagnosticNodelet("LabelToClusterPointIndices") { }
protected:
  // methods
  virtual void onInit();
  virtual void subscribe();
  virtual void unsubscribe();
  virtual void convert(const sensor_msgs::Image::ConstPtr& label_msg);
 
  // ROS variables
  ros::Subscriber sub_;
  ros::Publisher pub_;
  ros::Publisher pub_bg_;
 
  int bg_label_;
  std::vector<int> ignore_labels_;
private:
};
 
}  // namespace jsk_pcl_ros_utils
 
#endif  // JSK_PCL_ROS_UTILS_LABEL_TO_CLUSTER_POINT_INDICES_H_