// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_BOUNDING_OBJECT_MASK_IMAGE_H_
#define JSK_PERCEPTION_BOUNDING_OBJECT_MASK_IMAGE_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <geometry_msgs/PolygonStamped.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <opencv2/opencv.hpp>

namespace jsk_perception
{
  class BoundingObjectMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    BoundingObjectMaskImage(): DiagnosticNodelet("BoundingObjectMaskImage") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(const sensor_msgs::Image::ConstPtr& mask_msg);

    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
  private:
  };
}

#endif  // JSK_PERCEPTION_BOUNDING_OBJECT_MASK_IMAGE_H_
