def __init__(self):
rospy.init_node('moments')
image_topic = rospy.get_param('~image', '/tachyon/image')
rospy.Subscriber(image_topic, Image, self.cb_image, queue_size=1)
self.bridge = CvBridge()
geo_topic = '/%s/moments' % image_topic.split('/')[1]
self.pub_geo = rospy.Publisher(geo_topic, MsgGeometry, queue_size=10)
self.msg_geo = MsgGeometry()
threshold = rospy.get_param('~threshold', 127)
self.moments = Moments(threshold)
self.calibration = Calibration(0.375)
rospy.spin()
