displaying GUI with no incomming messages

camera_streaming/camera_subscriber.py

@@ -34,6 +34,9 @@ CUSTOM_QOS = QoSProfile(
 )
 
 
+SAVE_IMAGES = False
+
+
 class CameraSubscriber(Node, MissionExecutor):
     def __init__(self):
         super().__init__('camera_subscriber')
@@ -78,7 +81,8 @@ class CameraSubscriber(Node, MissionExecutor):
             int(np.ceil(hosts_num / int(np.sqrt(hosts_num))))
         )
         self.images = np.zeros(self.shape + self.resolution)
-        self.display_streams()
+
+        self.create_timer(1, self.display_streams)
 
         self.camera_subscriptions = [
             self.create_subscription(
@@ -209,7 +213,7 @@ class CameraSubscriber(Node, MissionExecutor):
                                          value=(0, 0, 2 * red[r, c]))
                 h, w, _ = img.shape
                 y0 = r * (sp_height+pad_top) + title_pad
-                x0 = c * (sp_width+pad) # + pad//2
+                x0 = c * (sp_width+pad)  # + pad//2
                 frame[y0:y0+h, x0:x0+w] = img
 
                 frame = cv2.putText(
@@ -232,15 +236,18 @@ class CameraSubscriber(Node, MissionExecutor):
                     f'{fps[r,c]} FPS',
                     (x0, y0+sp_height - 10),
                     cv2.FONT_HERSHEY_DUPLEX,
-                    3, ((1 - 2 * red[r,c]), (1 - 3 * red[r,c]), 1),
+                    3, ((1 - 2 * red[r, c]), (1 - 3 * red[r, c]), 1),
                     thickness=3,
                 )
 
         now = datetime.now().timestamp()
-        if now - self.last_saved > 5:
+        if now - self.last_saved > 5 and SAVE_IMAGES:
             print('saving')
             frame2 = frame.copy() * 255
-            cv2.imwrite(f'/home/agniewek/longTemp/infdist/img{datetime.now()}.jpg', frame2)
+            cv2.imwrite(
+                f'/home/agniewek/longTemp/infdist/img{datetime.now()}.jpg',
+                frame2
+            )
             self.saved += 1
             self.last_saved = now
         frame = cv2.resize(frame, (frame.shape[1]//2, frame.shape[0]//2))