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)