void Window::loadPreferences(bool seekToEnd) {
if (m_fileWatcher) {
delete m_fileWatcher;
m_fileWatcher = 0;
}
QSettings settings("DNSSEC-Tools", "dnssec-system-tray");
m_maxRows = settings.value("logNumber", 5).toInt();
m_showStillRunningWarning = settings.value("stillRunningWarning", true).toBool();
readLogFileNames();
openLogFiles(seekToEnd);
}
void
run (int argc, char* argv[])
{
exit_ = false;
get_image_ = false;
cols_ = 640;
rows_ = 480;
new_rgb_ = false;
new_depth_ = false;
new_ir_ = false;
cv_rgb_.create(480, 640, CV_8UC3);
cv_depth_.create(480, 640, CV_16UC1);
cv_ir_.create(480, 640, CV_16UC1);
cv_ir_raw_.create(480, 640, CV_16UC1);
rgb_data_.resize(480 *640);
depth_data_.resize(480 *640);
ir_data_.resize(480 *640);
image_viewer_.reset (new pcl::visualization::ImageViewer ("PCL OpenNI image"));
image_viewer_->setPosition (0, 0);
image_viewer_->setSize (640, 480);
image_viewer_->registerKeyboardCallback(keyboardCallback,(void*)this);
openLogFiles();
//ROS subscribing
ros::init(argc, argv, "capture_node");
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe("/camera/rgb/image_raw", 1, &OpenNIShoter::frameRGBCallback, this);
//Callback in separate thread.
//AsyncSPinner thread grabs frames from the stream if visodo is not busy and notifies visodo thread when new frames arrived
capture_.reset(new ros::AsyncSpinner(1));
//ros::spin();
capture_->start();
std::cout << "<Esc>, \'q\', \'Q\': quit the program" << std::endl;
std::cout << "\' \': pause" << std::endl;
std::cout << "\'s\': get image (if in snapshot mode)" << std::endl;
char key;
do
{
if (new_rgb_ == true )
{
//std::cout <<"new rgb" << std::endl;
if (get_image_)
{
saveImagesToDisk(nh, sub);
get_image_ = false;
}
else
{
boost::mutex::scoped_lock lock(rgb_mutex_);
if (&rgb_data_[0] != 0)
image_viewer_->addRGBImage ((unsigned char*)&rgb_data_[0], cols_, rows_);
new_rgb_ = false;
}
}
//boost::this_thread::sleep (boost::posix_time::millisec (10));
image_viewer_->spinOnce ();
} while (!exit_);
// stop the grabber
capture_->stop ();
}