realsense 保存深度图像 tiff格式

代码

话不多说直接上代码

#vis
from skimage import draw, data
import numpy as np
# ros
import rospy
from std_msgs.msg import String
from sensor_msgs.msg import Image
import message_filters
from std_msgs.msg import Float32MultiArray

#image process
import cv2
from cv_bridge import CvBridge, CvBridgeError


def callback(depth_data):
    #print(depth_data.data)
    depth_image_raw = bridge.imgmsg_to_cv2(depth_data, desired_encoding='passthrough')
    depth_image_raw = depth_image_raw/1000.0 #单位转换
    cv2.imwrite('path/*.tiff', depth_image_raw.astype(np.float32)) #必须用float32，64不可使用
  
if __name__ == '__main__':
    rospy.init_node('image_converter', anonymous=True)   
    rospy.Subscriber('/rs/aligned_depth_to_color/image_raw', Image, callback)
    global bridge
    bridge = CvBridge()
    rospy.spin()

函数库可能添加了一部分不必要的，因为是从完整的代码里截取出来的，懒得删除了