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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_perception/GridLabelConfig.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <opencv2/opencv.hpp>
#include <dynamic_reconfigure/server.h>

namespace jsk_perception
{
  class GridLabel: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef GridLabelConfig Config;
    GridLabel(): DiagnosticNodelet("GridLabel") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void infoCallback(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    virtual void imageCallback(
      const sensor_msgs::Image::ConstPtr& image_msg);
    virtual void makeLabel(cv::Mat& label, const std_msgs::Header& header);
    virtual void configCallback(Config &config, uint32_t level);
    
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    bool use_camera_info_;
    int label_size_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
  private:
    
  };
}

#endif
