 #!/usr/bin/env python
# from __future__ import print_function
 
 import roslib
 import sys
 import rospy
 import cv2
 from std_msgs.msg import String
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge, CvBridgeError
 
 class image_converter:
 
   def __init__(self):
 
     self.bridge = CvBridge()
     self.image_sub = rospy.Subscriber("bebop/image_raw",Image,self.callback)
 
   def callback(self,data):
     try:
       cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
     except CvBridgeError as e:
       print(e)
 
     (rows,cols,channels) = cv_image.shape
     if cols > 60 and rows > 60 :
       cv2.circle(cv_image, (50,50), 10, 255)
 
     cv2.imshow("Image window", cv_image)
     cv2.waitKey(3)
 
 def main(args):
   ic = image_converter()
   rospy.init_node('image_converter', anonymous=True)
   try:
     rospy.spin()
   except KeyboardInterrupt:
     print("Shutting down")
   cv2.destroyAllWindows()
 
 if __name__ == '__main__':
     main(sys.argv)
