#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 <iostream>
using namespace cv;
using namespace std;
int rate = 30;
Mat globalImage(Size(640,480),CV_8UC3);
int chess_num =0;
void imageCallback1(const sensor_msgs::ImageConstPtr& tem_msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(tem_msg, "bgr8");
Mat chess = cv_ptr->image;
char path[15];
cv::imshow("color", chess);
if(waitKey(10) == 's')
{
sprintf(path, "%s%d%s", "chessbord", chess_num++, ".jpg");
imwrite(path,chess);
}
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'mono8'.", tem_msg->encoding.c_str());
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "realsense_savepicture");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Subscriber sub1 = it.subscribe("/camera/color/image_raw",1,imageCallback1);
ros::Rate loop_rate(30);
while (nh.ok()) {
//pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
}
读取realsense彩色图像并且保存为图片
最新推荐文章于 2023-09-29 22:15:00 发布