ros下 同步保存双目数据 raw image

使用message_filters 以时间戳过滤同步保存双目数据 

#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>

图像编码类型参考：http://docs.ros.org/jade/api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html

完整代码：

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include "sensor_msgs/image_encodings.h"     
#include <cv_bridge/cv_bridge.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <iostream>

using namespace cv;
using namespace std;


int rate  = 30;
//Mat globalImage(Size(6