int main(int argc, char **argv) { ros::Rate loop_rate(1); ros::init(argc, argv, "image_listener"); ros::NodeHandle nh; cv::namedWindow("view"); cv::startWindowThread(); image_transport::ImageTransport it(nh); image_transport::Subscriber sub_j1 = it.subscribe("videoJ1", 1, imageCallbackJ1); image_transport::Subscriber sub_j2 = it.subscribe("videoJ2", 1, imageCallbackJ2); while(ros::ok){ if(captured ){ cv::imshow("view", cv_bridge::toCvShare(cam1, "bgr8")->image); } // imshow("J2_sub", jetson2); ptrJ1.reset(); ros::spinOnce(); // cv::destroyWindow("J1_sub"); //cv::destroyWindow("J2_sub"); ros::spinOnce(); loop_rate.sleep(); } }