空格键保存深度图和彩色图，办公室环境三维重建
/home/yake/catkin_ws/src/pcl_in_ros/src/16_01Kinect_rgb_depth_saver.cpp
#include <ros/ros.h> #include <sensor_msgs/PointCloud2.h> #include <boost/foreach.hpp> #include <sensor_msgs/Image.h> #include <sensor_msgs/image_encodings.h> #include <image_transport/image_transport.h> #include <image_geometry/pinhole_camera_model.h> #include <cv_bridge/cv_bridge.h> // OpenCV2 #include <opencv2/opencv.hpp> #include <opencv2/imgproc/imgproc.hpp> #include <opencv2/highgui/highgui.hpp> // PCL #include <pcl/point_cloud.h> #include <pcl_conversions/pcl_conversions.h> #include <pcl/io/pcd_io.h> #include <pcl/visualization/cloud_viewer.h> #include <pcl/point_types.h> #include <message_filters/subscriber.h> #include <message_filters/synchronizer.h> #include <message_filters/sync_policies/approximate_time.h> using std::cout; using std::endl; using std::stringstream; using std::string; using namespace cv; using namespace std; using namespace sensor_msgs; using namespace message_filters; using namespace pcl; unsigned int filesNum = 1; bool saveCloud = false; void keyboardEventOccured(const visualization::KeyboardEvent& event, void* nothing) { if(event.getKeySym() == "space"&& event.keyDown()) saveCloud = true; } boost::shared_ptr<visualization::CloudViewer> createViewer() { boost::shared_ptr<visualization::CloudViewer> v(new visualization::CloudViewer("OpenNI viewer")); v->registerKeyboardCallback(keyboardEventOccured); return(v); } void callback(const ImageConstPtr& image_color_msg, const ImageConstPtr& image_depth_msg) { cv::Mat image_color = cv_bridge::toCvCopy(image_color_msg)->image; // BGR8 // cv::Mat image_depth = cv_bridge::toCvCopy(image_depth_msg)->image; // cv_bridge::CvImagePtr image_depth = cv_bridge::toCvCopy(image_depth_msg , sensor_msgs::image_encodings::TYPE_32FC1); // cv::normalize(image_depth->image, image_depth->image, 1, 0, cv::NORM_MINMAX); // cv_bridge::CvImagePtr image_depth = cv_bridge::toCvCopy(image_depth_msg , sensor_msgs::image_encodings::TYPE_16UC1); cv_bridge::CvImagePtr image_depth = cv_bridge::toCvCopy(image_depth_msg); cv::imshow("color", image_color); cv::imshow("depth", image_depth->image); if(saveCloud) { vector<int>compression_param; compression_param.push_back(CV_IMWRITE_JPEG_QUALITY); compression_param.push_back(100);// Highest quality vector<int>d_compression_param; d_compression_param.push_back(CV_IMWRITE_PNG_COMPRESSION); d_compression_param.push_back(0);// png Highest quality stringstream stream; stream <<"/home/yake/pcl_gaoxiang/rgbd-slam-tutorial-gx-master/yake_potatochip_kinect/rgb_jpgfile/"<< "rgb"<< filesNum<< ".jpg"; string filename = stream.str(); stringstream stream2; stream2 <<"/home/yake/pcl_gaoxiang/rgbd-slam-tutorial-gx-master/yake_potatochip_kinect/depth_pngfile/"<< "depth"<< filesNum<< ".png"; string filename2 = stream2.str(); imwrite (filename.c_str (), image_color,compression_param); // imwrite (filename2.c_str (), image_depth); imwrite(filename2.c_str (), image_depth->image, d_compression_param); cout << filename<<" Saved."<<endl; cout << filename2<<" Saved."<<endl; filesNum++; saveCloud = false; } cv::waitKey(3); } int main(int argc, char** argv) { ros::init(argc, argv, "vision_node"); ros::NodeHandle nh; cout<< "Press space to save rgb_raw and depth_raw to a file."<<endl; boost::shared_ptr<visualization::CloudViewer> viewer; viewer = createViewer(); // message_filters::Subscriber<Image> image_color_sub(nh,"/camera/rgb/image_raw", 1); // bayer_grbg8 message_filters::Subscriber<Image> image_color_sub(nh,"/camera/rgb/image_color", 1);// bgr8 // Use the rqt_reconfigure close registration. Otherwise the depth image has no data.(freenect driver) message_filters::Subscriber<Image> image_depth_sub(nh,"/camera/depth/image_raw", 1);// 16UC1 // message_filters::Subscriber<Image> image_depth_sub(nh,"/camera/depth/image", 1);// 32FC1 // Open the depth registratioin. // message_filters::Subscriber<Image> image_depth_sub(nh,"/camera/depth_registered/image_raw", 1); // 16UC1 // message_filters::Subscriber<Image> image_depth_sub(nh,"/camera/depth_registered/image", 1); // 32FC1 typedef sync_policies::ApproximateTime<Image, Image> MySyncPolicy; Synchronizer<MySyncPolicy> sync(MySyncPolicy(5), image_color_sub, image_depth_sub); sync.registerCallback(boost::bind(&callback, _1, _2)); ros::Rate rate(30.0); while (ros::ok() && ! viewer->wasStopped()) { ros::spinOnce(); rate.sleep(); } return 0; }文章来源: 深度相机同时保存深度图和彩色图