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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>

namespace jsk_perception
{
  class ContourFinder: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    ContourFinder(): DiagnosticNodelet("ContourFinder") {}
  protected:

    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void segment(const sensor_msgs::Image::ConstPtr& image_msg);

    ros::Subscriber sub_;
    ros::Publisher pub_debug_image_;
    ros::Publisher pub_convex_image_;
  private:
    
  };
}

#endif
