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/* @author Zhang Wanjie                                             */

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <wpb_home_behaviors/Rect.h>
#include <wpb_home_behaviors/Coord.h>

void FaceRectCB(const wpb_home_behaviors::Rect::ConstPtr &msg)
{
    int nNumFace = msg->name.size();
    ROS_WARN("[FaceRectCB] num = %d",nNumFace);
    if(nNumFace > 0)
    {
        for(int i=0 ; i<nNumFace ; i++)
        {
            ROS_WARN("[FaceRectCB] %s - (%d , %d , %d , %d)",msg->name[i].c_str(),msg->top[i],msg->bottom[i],msg->left[i],msg->right[i]);
        }
        
    }
} 

void FaceCoordCB(const wpb_home_behaviors::Coord::ConstPtr &msg)
{
    int nNumFace = msg->name.size();
    ROS_WARN("[FaceCoordCB] num = %d",nNumFace);
    if(nNumFace > 0)
    {
        for(int i=0 ; i<nNumFace ; i++)
        {
            ROS_WARN("[FaceCoordCB] %s - (%.2f , %.2f , %.2f)",msg->name[i].c_str(),msg->x[i],msg->y[i],msg->z[i]);
        }
        
    }
} 

int main(int argc, char** argv)
{
    ros::init(argc, argv, "wpb_home_face_node");
    ROS_WARN("wpb_home_face_node start!");

    ros::NodeHandle n;
    ros::Subscriber face_2d_sub = n.subscribe("/wpb_home/face_detect_2d", 1, FaceRectCB);
    ros::Subscriber face_3d_sub = n.subscribe("/wpb_home/face_detect_3d", 1, FaceCoordCB);

    ros::spin();

    return 0;
}
