KinectV2保存图片序列（B键开始，E键结束保存）

实现功能

KinectV2保存图片序列, 仅仅控制开始结束, 例如, 按键B(Begin)开始保存, 按键E(End)结束保存. 保存路径为当前工作路径，在此为~/catkin_ws/

写在前面

首先，简单理解运行Kinect2显示图像时的代码

rosrun kinect2_viewer kinect2_viewer

意义为，运行kinect2_viewer包中的kinect2_viewer节点，因此，进入这个包的路径/home/junwang/catkin_ws/src/iai_kinect2/kinect2_viewer/src
即可看到该节点的源码viewer.cpp

仿照viewer.cpp自己编写代码save_seq.cpp

代码路径：/home/junwang/catkin_ws/src/iai_kinect2/kinect2_viewer/src
参考：https://blog.csdn.net/RainVictor1/article/details/70547015
详解参考：https://blog.csdn.net/sunbibei/article/details/51594824#保存图片
以下代码亲测可直接复制运行

/**
 * Copyright 2014 University of Bremen, Institute for Artificial Intelligence
 * Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>
#include <cmath>
#include <mutex>
#include <thread>
#include <chrono>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>

#include <opencv2/opencv.hpp>

#include <ros/ros.h>
#include <ros/spinner.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>

#include <cv_bridge/cv_bridge.h>

#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>

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

#include <kinect2_bridge/kinect2_definitions.h>

class Receiver
{
public:
  enum Mode
  {
    IMAGE = 0,
    CLOUD,
    BOTH
  };

private:
  std::mutex lock;

  const std::string topicColor, topicDepth;
  const bool useExact, useCompressed;

  bool updateImage, updateCloud;
  bool save;
  bool save_seq;
  bool running;
  size_t frame;
  const size_t queueSize;

  cv::Mat color, depth;
  cv::Mat cameraMatrixColor, cameraMatrixDepth;
  cv::Mat lookupX, lookupY;

  typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ExactSyncPolicy;
  typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ApproximateSyncPolicy;

  ros::NodeHandle nh;
  ros::AsyncSpinner spinner;
  image_transport::ImageTransport it;
  image_transport::SubscriberFilter *subImageColor, *subImageDepth;
  message_filters::Subscriber<sensor_msgs::CameraInfo> *subCameraInfoColor, *subCameraInfoDepth;

  message_filters::Synchronizer<ExactSyncPolicy> *syncExact;
  message_filters::Synchronizer<ApproximateSyncPolicy> *syncApproximate;

  std::thread imageViewerThread;
  Mode mode;

  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;
  pcl::PCDWriter writer;
  std::ostringstream oss;
  std::vector<int> params;

public:
  Receiver(const std::string &topicColor, const std::string &topicDepth, const bool useExact, const bool useCompressed)
    : topicColor(topicColor), topicDepth(topicDepth), useExact(useExact), useCompressed(useCompressed),
      updateImage(false), updateCloud(false), save(false), save_seq(false),running(false), frame(0), queueSize(5),
      nh("~"), spinner(0), it(nh), mode(CLOUD)
  {
    cameraMatrixColor = cv::Mat::zeros(3, 3, CV_64F);
    cameraMatrixDepth = cv::Mat::zeros(3, 3, CV_64F);
    params.push_back(cv::IM