camerathread.cpp

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#include "CameraUtils/camerathread.h"
#include <QMetaType>

CameraThread::CameraThread(QObject *parent, std::string topicName) :
    QThread(parent)
{
    this->topicName = topicName;
    qRegisterMetaType<sensor_msgs::Image::ConstPtr>("sensor_msgs::Image::ConstPtr");
}

void CameraThread::run()
{
    ros::NodeHandle n;
    a = n.subscribe(topicName, 1000, &CameraThread::onImage, this);
    ROS_INFO_STREAM("Camera started: " << topicName);
    while (ros::ok())
    {
        ros::spinOnce();
    }
}

void CameraThread::onImage(const sensor_msgs::Image::ConstPtr& msg)
{
    this->imageReceived(msg);
}