C++/python 接收ROS图像话题并保存成图像

1.  C++ 保存图像

#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>
#include<iostream>

using namespace std;
using namespace cv;


long int count_ =0000;//不能命名成count
int n=0;
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
      cv_bridge::CvImagePtr cv_ptr;
      try   //对错误异常进行捕获，检查数据的有效性
        { 
         cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
         char base_name[256];
         if(n%10==0)
         {
         sprintf(base_name,"/home/zhy/Documents/data/%04ld.jpg",count_++);
         imwrite(base_name, cv_ptr->image);
         }
         n++;
        }
        catch(cv_bridge::Exception& e)  //异常处理
        {
            ROS_ERROR("cv_bridge exception: %s", e.what());
            return;
        }    
        
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "msg2img2");
  ros::NodeHandle nh_;
  ros::Subscriber image_sub_ = nh_.subscribe("/pylon_camera_node/image_raw", 1, imageCallback);///middle/pylon_camera_node/image_raw/compressed
  
  ros::spin();
  return 0;
}

2. python  保存图像

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import rospy

from sensor_msgs.msg import Image

import sys
ros_path = '/opt/ros/kinetic/lib/python2.7/dist-packages'
if ros_path in sys.path:
    sys.path.remove(ros_path)
import cv2
from cv_bridge import CvBridge, CvBridgeError

bridge = CvBridge() 



class listener:

    def __init__(self):
        rospy.init_node('listener', anonymous=True)
        self.num=0000

        image_sub = rospy.Subscriber("/obstacel_images",Image, self.callback,queue_size=1)

        rospy.spin()
        
    def callback(self,data):    
    
        try:
            cv_image = bridge.imgmsg_to_cv2(data, "bgr8") 
            frame=cv_image
            cv2.imwrite("/home/zhy/Documents/Perception/camera_data/lane_image_basler/T5G_data/result/" + str(self.num)+ '.jpg',frame)
            self.num+=1

            cv2.namedWindow("detect")
        
            cv2.imshow("detect", cv_image)     
            cv2.waitKey(1)  

        except CvBridgeError as e:
            print(e)    


if __name__ == '__main__':
    listener()

3. 保存成时间戳的图像

#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>
#include<iostream>
#include <sensor_msgs/Image.h>
#include <ros/time.h>

using namespace std;
using namespace cv;

long int count_ =0000;//不能命名成count
int n=0;
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
      cv_bridge::CvImagePtr cv_ptr;
      try   //对错误异常进行捕获，检查数据的有效性
        { 
         cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
         char base_name[256];
        //  if(n%20==0)
        //  {
         //sprintf(base_name,"/home/zhy/Documents/data/%04ld.jpg",count_++);
         std::sprintf(base_name,"/home/zhy/Documents/data/%ld.jpg", msg->header.stamp.toNSec());//获取ROS时间戳
         cv::imwrite(base_name, cv_ptr->image);
         ROS_INFO_STREAM("Saved image to " << base_name);     
        //  }
        //  n++;
         }
        catch(cv_bridge::Exception& e)  //异常处理
        {
            ROS_ERROR("cv_bridge exception: %s", e.what());
            return;
        }     
      //   // 获取ROS时间戳并生成文件名
      //  std::string filename =std::to_string(msg->header.stamp.toNSec()) + ".jpg";
       
      // // 保存图像到文件
      //  cv::imwrite(filename, cv_ptr->image);
      // ROS_INFO_STREAM("Saved image to " << filename);     
        
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "msg2img2");
  ros::NodeHandle nh_;
  ros::Subscriber image_sub_ = nh_.subscribe("/cam_front_center/csi_cam/image_raw", 1, imageCallback);///middle/pylon_camera_node/image_raw/compressed
  
  ros::spin();
  return 0;
}