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

#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <dynamic_reconfigure/server.h>
#include <boost/thread.hpp>
#include <opencv/cv.h>

#include <jsk_perception/SLICSuperPixelsConfig.h>
#include <dynamic_reconfigure/server.h>

namespace jsk_perception
{
  class SLICSuperPixels: public nodelet::Nodelet
  {
  public:
    typedef SLICSuperPixelsConfig Config;
    
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void imageCallback(const sensor_msgs::Image::ConstPtr& image);
    virtual void configCallback(Config &config, uint32_t level);

    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    ros::NodeHandle nh_, pnh_;
    boost::shared_ptr<image_transport::ImageTransport> it_;
    boost::mutex mutex_;
    image_transport::Subscriber image_sub_;
    ros::Publisher pub_debug_;
    ros::Publisher pub_debug_mean_color_;
    ros::Publisher pub_debug_center_grid_;
    ros::Publisher pub_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    
    ////////////////////////////////////////////////////////
    // parameters
    ////////////////////////////////////////////////////////
    int number_of_super_pixels_;
    int weight_;
  private:
  };
}

#endif
