ros下usb视频保存(16)

订阅/camera/image节点后，保存视频到 .avi中。

ros_video_save.cpp

// xx
// 订阅/camera/image后，保存为.avi 

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

static const std::string OPENCV_WINDOW = "Image window";

cv::VideoWriter writer("/home/xx/Videos/write.avi",CV_FOURCC('M','J','P','G'),30.0,cv::Size(640,480));

class ImageConverter
{
  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;
  image_transport::Subscriber image_sub_;
//  image_transport::Publisher image_pub_;

public:
  ImageConverter()
    : it_(nh_)
  {
    // Subscrive to input video feed and publish output video feed
    image_sub_ = it_.subscribe("/camera/image", 1,
      &ImageConverter::imageCb, this);
/