new_contents: #!/usr/bin/env python
  # license removed for brevity
  import rospy
  import cv2
  import numpy as np
  from vesselness_image_filter_common.msg import vesselness_params
  
  
  def do_nothing(x):
      pass
  
  
  def main():
      pub = rospy.Publisher("/vesselness/settings", vesselness_params, queue_size=10)
      rospy.init_node("vesselness_filter_parameter_gui", anonymous=True)
      rate = rospy.Rate(1) # 10hz
      # Initialize parameters
      params = vesselness_params()
      # Setup GUI
      window_name = "Vesselness Parameter GUI"
      image = np.zeros((1, 512))
      cv2.namedWindow(window_name)
      cv2.createTrackbar("Hessian Side", window_name, 1, 4, do_nothing)
      cv2.createTrackbar("Hessian Variance", window_name, 0, 255, do_nothing)
      cv2.createTrackbar("Post Process Side", window_name, 1, 4, do_nothing)
      cv2.createTrackbar("Post Process Variance", window_name, 0, 255, do_nothing)
      cv2.createTrackbar("c Parameter", window_name, 0, 255, do_nothing)
      cv2.createTrackbar("beta Parameter", window_name, 0, 255, do_nothing)
      while not rospy.is_shutdown():
          cv2.imshow(window_name, image)
          k = cv2.waitKey(1) & 0xFF
  
          if k in [27, ord('q')]:
              rospy.signal_shutdown('Quit')
  
          params.hessianSide = cv2.getTrackbarPos("Hessian Side", window_name)
          params.hessianVariance = cv2.getTrackbarPos("Hessian Variance", window_name) / 10.0
          params.postProcessSide = cv2.getTrackbarPos("Post Process Side", window_name)
          params.postProcessVariance = cv2.getTrackbarPos("Post Process Variance", window_name) / 10.0
          params.cParameter = 0.001 + 0.999 / 255 * cv2.getTrackbarPos("c Parameter", window_name)
          params.betaParameter = 0.001 + 0.999 / 255 * cv2.getTrackbarPos("beta Parameter", window_name)
          rospy.loginfo(params)
          pub.publish(params)
          rate.sleep()
  
  if __name__ == '__main__':
      try:
          main()
      except rospy.ROSInterruptException:
          pass
  
subject: Add parameter_gui.py