unapply_mask_image.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_UnAPPLY_MASK_IMAGE_H_
00038 #define JSK_PERCEPTION_UNAPPLY_MASK_IMAGE_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/Image.h>
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/synchronizer.h>
00044 #include <message_filters/sync_policies/exact_time.h>
00045 #include <message_filters/sync_policies/approximate_time.h>
00046 
00047 namespace jsk_perception
00048 {
00049   class UnapplyMaskImage: public jsk_topic_tools::DiagnosticNodelet
00050   {
00051   public:
00052     typedef message_filters::sync_policies::ApproximateTime<
00053     sensor_msgs::Image,
00054     sensor_msgs::Image > ApproximateSyncPolicy;
00055     typedef message_filters::sync_policies::ExactTime<
00056     sensor_msgs::Image,
00057     sensor_msgs::Image > SyncPolicy;
00058 
00059     UnapplyMaskImage(): DiagnosticNodelet("UnapplyMaskImage") {}
00060   protected:
00061 
00062     virtual void onInit();
00063     virtual void subscribe();
00064     virtual void unsubscribe();
00065     virtual void apply(
00066       const sensor_msgs::Image::ConstPtr& image_msg,
00067       const sensor_msgs::Image::ConstPtr& mask_msg);
00068 
00069     bool approximate_sync_;
00070     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00071     boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
00072     message_filters::Subscriber<sensor_msgs::Image> sub_image_;
00073     message_filters::Subscriber<sensor_msgs::Image> sub_mask_;
00074     ros::Publisher pub_image_;
00075     
00076   private:
00077     
00078   };
00079 }
00080 
00081 #endif


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:36:15