def main():
		
	rospy.init_node("Surf_2014_Retrieve")
	
	tobj = moveGetCamArmImage(limb = 'left', file_name = "RetrieveBaxterCamArmJointPosFile.dat")
	tobj.moveCamArm()
	img = tobj.getCamArmImage()
	icObj = ImageClipper('RetrieveImageClipPosFile.dat')
	img = icObj.clipImage(img)

	back_img = cv2.imread('RetrieveImage.png')
	per_white = 100.0
	while (per_white >= 10.5):
		img = tobj.getCamArmImage()
		img = icObj.clipImage(img)
		per_white, binary_img = getForeBack(back_img, img)
	cv2.imshow('Current_Image', img)
	cv2.imshow('Back_Image', back_img)
	cv2.imshow('Binary_Image', binary_img)
	print per_white
	print
	
	if per_white >= 1.0:
		print "TOOL PRESENT"
	else:
		print "NO TOOL"

	cv2.waitKey(0)