from PyQt5.QtWidgets import QApplication
from interfaces.camera import ListenerCamera
from interfaces.motors import PublisherMotors
from interfaces.point import ListenerPoint, PublisherPoint
if __name__ == "__main__":
cameraL = ListenerCamera("/TurtlebotROS/cameraL/image_raw")
cameraR = ListenerCamera("/TurtlebotROS/cameraR/image_raw")
#motors = PublisherMotors("/TurtlebotROS/cmd_vel", 4, 0.3)
pointTopic = "/TurtlebotROS/point"
publishPoint = PublisherPoint(pointTopic)
listenPoint = ListenerPoint(pointTopic)
algorithm = MyAlgorithm(cameraL, cameraR, publishPoint)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setCamera(cameraL, 'left')
myGUI.setCamera(cameraR, 'right')
myGUI.setPlot(listenPoint)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon = True
t2.start()
sys.exit(app.exec_())