import sys

import comm

import config

import signal

from PyQt5.QtWidgets import QApplication

from gui.GUI import MainWindow

from gui.threadgui import ThreadGui

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':

cfg = config.load(sys.argv[1])

if len(sys.argv)>2:

file_world = sys.argv[2]

else:

file_world = None

# starting comm

jdrc = comm.init(cfg, "compare3d")

x = jdrc.getConfig()

pose_real = jdrc.getPose3dClient("compare3d.Pose3DReal")

pose_sim = jdrc.getPose3dClient("compare3d.Pose3DEstimated")

app = QApplication(sys.argv)

frame = MainWindow(file_world=file_world)

frame.setPose3Dsim(pose_sim)

frame.setPose3dreal(pose_real)

frame.show()

t2 = ThreadGui(frame)

t2.daemon = True

t2.start()

sys.exit(app.exec_())