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int main(int argc, char **argv)
{
   ros::init(argc, argv, "image_listener");
    ros::NodeHandle nh;
   ros::Rate loop_rate(100);                                                                   // Rate class instance.   
   ImageManagmentStruct LeftCameraImageStruct, RightCameraImageStruct, KinectImageStruct;      // Structs for image menagment.      
   
    // Getting the resizing parameter from the launch file.
    if ( !nh.getParam("resizing_factor", globalResizingFactor) )
    {
        ROS_ERROR ("The resizing factor was not loaded succesfully. Aborting...\n");
        ros::shutdown();
    }

    // Initializing the image/camera data structures.   
   dataStructuresInitialization ( &LeftCameraImageStruct, &RightCameraImageStruct, &KinectImageStruct );
       
    // GTK library initialization
   gtk_init ( &argc, &argv );

    // Creating a top level window and connecting it to a signal.   
    createMainInterfaceWindow ();
   
    // Creating a fixed container, which will hold all the widgets of the GUI.
    createFixedContainer ();
   
    // Creating a GtkGrid widget, which will contain all the images.
    createGtkTable ();
   
    // Attaching the created table to the Container.
    gtk_fixed_put (GTK_FIXED (pGlobalFixedContainer), pGlobalGtkTable, IMAGES_HORIZONTAL_PLACEMENT, IMAGES_VERTIACL_PLACEMENT);
                           
   // Subscribing in order to receive images.
   ros::Subscriber subLeft = nh.subscribe<sensor_msgs::Image> ("leftCameraTopic", 10, boost::bind(imageCallback, _1, globalArrayOfImages[0]));    
    ros::Subscriber subRight = nh.subscribe<sensor_msgs::Image> ("rightCameraTopic", 10, boost::bind(imageCallback, _1, globalArrayOfImages[1]));
    ros::Subscriber subKinect = nh.subscribe<sensor_msgs::Image> ("kinectCameraTopic", 10, boost::bind(imageCallback, _1, globalArrayOfImages[2]));
      
   
    while ( ros::ok() )
    {
      // Showing the main window, with the attached image.
      if ( GTK_IS_WIDGET (globalTopLevelWindow) )
      {
         gtk_widget_show_all ( globalTopLevelWindow );       
      }
      else
      {
           ROS_INFO ("The top level window of the application was closed...Exiting the program.\n");
           return 0;
      }
      
      // Allowing "imageCallback" to be called.
      ros::spinOnce();
      
       // Running the main GTK iteration loop.
      gtk_main_iteration_do(0);   
         
      // Sleep
       loop_rate.sleep ();   
    } 

    return 0;
}