Extracting kinect depth_registered image

edit

Hi everybody,

so the solution is to take the extract_images file from the package image_view, and to modify it :

just modify the

bgr8

and

mono8

to

sensor_msgs::image_encodings::TYPE_32FC1

Don't forget to add at the top :

#include <sensor_msgs/image_encodings.h>

Last but not least add in your manifest

<depend package="cv_bridge"/>

The results will be, as in the original file, jpg files. However, don't be frightened if they look black, because values are given in meter (for depth_registered/image).

Here is the whole code :

// modified version for depth extraction

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#include <opencv2/highgui/highgui.hpp>

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>

#include <boost/thread.hpp>
#include <boost/format.hpp>

class ExtractImages
{
private:
  image_transport::Subscriber sub_;

  sensor_msgs::ImageConstPtr last_msg_;
  boost::mutex image_mutex_;

  std::string window_name_;
  boost::format filename_format_;
  int count_;
  double _time;
  double sec_per_frame_;

#if defined(_VIDEO)
  CvVideoWriter* video_writer;
#endif //_VIDEO

public:
  ExtractImages(const ros::NodeHandle& nh, const std::string& transport)
    : filename_format_(""), count_(0), _time(ros::Time::now().toSec())
  {
    std::string topic = nh.resolveName("image");
    ros::NodeHandle local_nh("~");

    std::string format_string;
    local_nh.param("filename_format", format_string, std::string("frame%04i.jpg"));
    filename_format_.parse(format_string);

    local_nh.param("sec_per_frame", sec_per_frame_, 0.1);

    image_transport::ImageTransport it(nh);
    sub_ = it.subscribe(topic, 1, &ExtractImages::image_cb, this, transport);

#if defined(_VIDEO)
    video_writer = 0;
#endif

    ROS_INFO("Initialized sec per frame to %f", sec_per_frame_);
  }

  ~ExtractImages()
  {
  }

  void image_cb(const sensor_msgs::ImageConstPtr& msg)
  {
    boost::lock_guard<boost::mutex> guard(image_mutex_);

    // Hang on to message pointer for sake of mouse_cb
    last_msg_ = msg;

    // May want to view raw bayer data
    // NB: This is hacky, but should be OK since we have ...