def __init__(self, image_topic):
""" Initialize the sign tracker """
rospy.init_node('sign_tracker')
self.cv_image = None # the latest image from the camera
self.bridge = CvBridge() # used to convert ROS messages to OpenCV
# matcher needs to be created but since the cropped image is not yet available initialize the matcher with None
self.matcher = SignMatcher(None)
self.maxContour = 0
self.maxCArea = 0
self.cropped = 0
# counter to properly perform the turns for the correct period of time
self.counter = 0
self.counterMax = 63
self.receivedCommand = False
self.signArea = 4500
self.twist = Twist()
self.twist.linear.x = .1
rospy.Subscriber(image_topic, Image, self.process_image)
self.pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
cv2.namedWindow('video_window')
cv2.namedWindow('threshold_image')
