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_