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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
#include <sensor_msgs/image_encodings.h>

namespace jsk_pcl_ros
{
  class ROIToMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    ROIToMaskImage(): DiagnosticNodelet("ROIToMaskImage") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);

    ros::Publisher pub_;
    ros::Subscriber sub_;
  private:
    
  };
}

#endif
