29 #include <image_transport/image_transport.h>
30 #include <cv_bridge/cv_bridge.h>
31 #include <sensor_msgs/image_encodings.h>
32 #include <opencv2/imgproc/imgproc.hpp>
33 #include <opencv2/highgui/highgui.hpp>
35 #include <camera_info_manager/camera_info_manager.h>
40 void imageCb(
const sensor_msgs::ImageConstPtr& cam_msg)
42 cv_bridge::CvImagePtr cv_ptr;
45 cv_ptr = cv_bridge::toCvCopy(cam_msg, sensor_msgs::image_encodings::BGR8);
47 catch (cv_bridge::Exception& e)
49 ROS_ERROR(
"cv_bridge exception: %s", e.what());
54 ROS_INFO (
"Image nr %d\n", cv_ptr->header.seq);
55 std::ostringstream oss;
57 oss<< setw(6) << setfill(
'0') << cv_ptr->header.seq;
58 imwrite(
"/home/asus/workingcopies/lar4/src/perception/pedestrians/multimodal_pedestrian_detect/images/bag_1_full/"+ oss.str()+
".png", cv_ptr->image );
63 int main(
int argc,
char** argv)
65 ros::init(argc, argv,
"writer_cam");
66 ros::NodeHandle nh(
"~");
67 image_transport::ImageTransport it_(nh);
69 image_transport::Subscriber image_sub_ = it_.subscribe(
"/usb_cam_reader/image_raw", 1000,
imageCb);
void imageCb(const sensor_msgs::ImageConstPtr &cam_msg)
int main(int argc, char **argv)