Main.cpp

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#include <FaceFind.h>
#include <Qtcv.h>

// callback queue
#include <ros/callback_queue.h>

// Qt
#include <QApplication>

// image transport
#include <image_transport/image_transport.h>
#include <compressed_image_transport/compressed_subscriber.h>

// laser scanner
#include <pr2_msgs/SetPeriodicCmd.h>

int main(int argc, char** argv)
{
        //** Qt application (must be first line!) */
        QApplication application(argc, argv);
        
        //** own face finder class */
        FaceFind faceFind;
        
        //** start ros */
        ros::init(argc, argv, "facefinder");
        ros::NodeHandle n;
        ros::CallbackQueue cq;
        n.setCallbackQueue(&cq);
        
        //** image transport helper */
        image_transport::ImageTransport it(n);
        
        //** subscribe to stereo camera */
        image_transport::Subscriber image = it.subscribe("/wide_stereo/left/image_rect_color", 20,
                        &FaceFind::ImageCBAll, &faceFind, image_transport::TransportHints("compressed"));
        
        //** subscribe to prosilica camera */
        image_transport::Subscriber prosilica  = it.subscribe("/prosilica/image_color", 5,
                        &FaceFind::ProsilicaCBAll, &faceFind, image_transport::TransportHints("compressed"));
        
        //** subscribe to face detector */
        ros::Subscriber face_positions = n.subscribe("face_detector/people_tracker_measurements", 20,
                        &FaceFind::FacePosCBAll, &faceFind);
        
        //** subscribe to camera info, for coordinate conversion */
        ros::Subscriber camera_model = n.subscribe("/wide_stereo/left/camera_info", 5, &FaceFind::CameraModelCBAll, &faceFind);
        ros::Subscriber prosilica_camera_model = n.subscribe("/prosilica/camera_info", 5,
                        &FaceFind::ProsilicaCameraModelCBAll, &faceFind);
        
        //** laser clients */
        faceFind.laserscanner_client = n.serviceClient<laser_assembler::AssembleScans>("assemble_scans");
        faceFind.lasertilt_client    = n.serviceClient<pr2_msgs::SetPeriodicCmd>("/laser_tilt_controller/set_periodic_cmd");

        //** server for project status messages */
        ros::ServiceServer statusService = n.advertiseService("/alubsc/status_msg", &FaceFind::StatusMessageCBAll, &faceFind);
        
        //** server for edge image from contour_detector */
        ros::ServiceServer edgeImageService = n.advertiseService("/alubsc/edge_image", &FaceFind::EdgeImageCBAll, &faceFind);
        
        //** clients for commands */
        faceFind.pen_gripper_client = n.serviceClient<portrait_robot_msgs::alubsc_node_instr>("/alubsc/node_instr/pen_gripper");
        faceFind.contour_detector_client = n.serviceClient<portrait_robot_msgs::alubsc_node_instr>("/contour_detector/contour_detector");
        faceFind.painter_client = n.serviceClient<portrait_robot_msgs::alubsc_node_instr>("/alubsc/node_instr/painter");
        faceFind.corner_client = n.serviceClient<portrait_robot_msgs::alubsc_node_instr>("/alubsc/node_instr/manual_canvas_setting");
        
        //** gui related connects */
        UserInterface window;
        
        QObject::connect(&faceFind, SIGNAL(newCameraImage(QImage)), &window, SLOT(SetLeftImage(QImage)));
        QObject::connect(&faceFind, SIGNAL(newPhoto(QImage)), &window, SLOT(SetCenterImage(QImage)));
        QObject::connect(&faceFind, SIGNAL(newMask(QImage)), &window, SLOT(SetRightImage(QImage)));
        QObject::connect(&faceFind, SIGNAL(setGUIInfo(QString)), &window, SLOT(SetInfo(QString)));
        QObject::connect(&faceFind, SIGNAL(setGUIStatus(QString)), &window, SLOT(SetStatus(QString)));
        QObject::connect(&faceFind, SIGNAL(newStatusMessage(int, QString)), &window, SLOT(UpdateStatusMessage(int, QString)));
        QObject::connect(&faceFind, SIGNAL(activateButton(int)), &window, SLOT(ActivateButton(int)));
        
        QObject::connect(&window, SIGNAL(sendMouseEvent(int, int, int)),
                        &faceFind, SLOT(ReceiveMouseEvent(int, int, int)));
        QObject::connect(&window, SIGNAL(mirror()), &faceFind, SLOT(Mirror()));
        QObject::connect(&window, SIGNAL(penButtonClick()), &faceFind, SLOT(PenButton()));
        QObject::connect(&window, SIGNAL(edgeButtonClick()), &faceFind, SLOT(EdgeButton()));
        QObject::connect(&window, SIGNAL(paintButtonClick()), &faceFind, SLOT(PaintButton()));
        QObject::connect(&window, SIGNAL(cornerButtonClick()), &faceFind, SLOT(CornerButton()));
        QObject::connect(&window, SIGNAL(loadEdgeImage(const char*)), &faceFind, SLOT(EdgeImageFromFile(const char*)));
        QObject::connect(&window, SIGNAL(loadPhoto(const char*, const char*)), &faceFind, SLOT(PhotoFromFile(const char*, const char*)));
        QObject::connect(&window, SIGNAL(headButtonClick()), &faceFind, SLOT(HeadButton()));
        QObject::connect(&window, SIGNAL(abortButtonClick()), &faceFind, SLOT(AbortButton()));
        
        window.show();
        
        //** ros spinner with callback queue */
        ros::AsyncSpinner spinner(0, &cq);
        spinner.start();
        application.exec();
        spinner.stop();
        
        return 0;
}