ros 下使用iai_kinect2同步获取Kinect2的彩色图，深度图和时间戳

 

      使用ROS的exactTime同步策略获取相同时间戳的RGB图与深度图

参考：https://blog.csdn.net/chishuideyu/article/details/77479758

/**
 * 
 * Description：
 *   Collect the rgb and depth images from iai_kinect2 bridge in ExactTime synchronize policy
 * in which the rgb and depth messages have exactly the same timestamp.And the timestamp we 
 * saved is in seconds (s) to 6 decimal places (us).
 * Functions:
 *
 */

#include 
#include 
#include 
#include 
#include 
#include 

#include 
#include 
#include 
#include //将ROS下的sensor_msgs/Image消息类型转化成cv::Mat。

#include 
#include 
#include 

#include 
#include 
#include 

#include 
#include 
#include //头文件sensor_msgs/Image是ROS下的图像的类型，这个头文件中包含对图像进行编码的函数


using namespace std;
using namespace cv;

Mat rgb, depth;
struct timeval tv;

string topic1_name = "/kinect2/qhd/image_color"; //topic 名称
string topic2_name = "/kinect2/qhd/image_depth_rect";

string filename_rgbdata="/home/nld/catkin_ws/recordData/RGBD/rgbdata.txt";
string filename_depthdata="/home/nld/catkin_ws/recordData/RGBD/depthdata.txt";
string save_imagedata = "/home/nld/catkin_ws/recordData/RGBD/";

ofstream of_depthInfo(filename_depthdata.c_str());
ofstream of_rgbInfo(filename_rgbdata.c_str());

void callback(const sensor_msgs::Image::ConstPtr imageColor, const sensor_msgs::Image::ConstPtr imageDepth);   
void readImage(const sensor_msgs::Image::ConstPtr msgImage, cv::Mat &image) ;
void saveImgdata(ofstream &of_rgbInfo,ofstream &of_depthInfo);

int main(int argc,char** argv)
{
   
	namedWindow("image color",CV_WINDOW_AUTOSIZE);
    namedWindow("image depth",CV_WINDOW_AUTOSIZE);

    
    if(!of_rgbInfo)
    {
    	std::cerr << "[erro info] CANNOT open the file:" << filename_rgbdata << std::endl;
    	return 0;
    }
	 
    if(!of_depthInfo)
    {
    	std::cerr << "[erro info] CANNOT open the file:" << filename_depthdata << std::endl;
    	return 0;
    }
    
    ros::init(argc,argv,"kinect2_listen");
  	ros::start();
    if(!ros::ok())
            return 0;

    ros::NodeHandle nh;

    message_filters::Subscriber subImgColor(nh,topic1_name,1);
    message_filters::Subscriber subImgDepth(nh,topic2_name,1);
    typedef message_filters::sync_policies::ExactTime sync_policy;
    message_filters::Synchronizer syncExact(sync_policy(10),subImgColor,subImgDepth);
    syncExact.registerCallback(boost::bind(&callback,_1,_2));
    
    ros::spin();    

    ros::shutdown();
  
   	of_rgbInfo.close();
    of_depthInfo.close();
    
    return 0;

}

void readImage(const sensor_msgs::Image::ConstPtr msgImage, cv::Mat &image) 
  {
    cv_bridge::CvImageConstPtr pCvImage;
    pCvImage = cv_bridge::toCvShare(msgImage, msgImage->encoding);
    pCvImage->image.copyTo(image);
  }


void callback(const sensor_msgs::Image::ConstPtr imageColor, const sensor_msgs::Image::ConstPtr imageDepth)
{
	gettimeofday(&tv,nullptr);
	
	readImage(imageColor,rgb);
	readImage(imageDepth,depth);

	saveImgdata(of_rgbInfo,of_depthInfo);

	imshow("image color",rgb);
        imshow("image depth",depth);
        waitKey(1);

}


void saveImgdata(ofstream &of_rgbInfo,ofstream &of_depthInfo)
{	
	ostringstream timestamp;
	timestamp << tv.tv_sec << "." << setfill('0') << setw(6) << tv.tv_usec;

	of_depthInfo << timestamp.str() << ",depth/" << timestamp.str()<<".png\n";
	of_rgbInfo << timestamp.str() << ",rgb/" << timestamp.str()<<".png\n";

	string rgbPath,depthPath;
	rgbPath = save_imagedata + "rgb/" + timestamp.str() + ".png";
	depthPath = save_imagedata + "depth/" + timestamp.str()+ ".png";

	cout<< rgbPath <

下面是CMakeList文件

cmake_minimum_required(VERSION 2.8.3)
project(save_rgbd_from_kinect2)

find_package(OpenCV REQUIRED)
find_package(OpenMP)
# Enable C++11
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE) 
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS

	roscpp
	rospy
	std_msgs
	rostime sensor_msgs 
	message_filters 
	cv_bridge
	image_transport 
	compressed_image_transport 
	compressed_depth_image_transport 
)


## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES save_rgbd_from_kinect2
#  CATKIN_DEPENDS roscpp rospy stdmsg
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
	${catkin_INCLUDE_DIRS}
	${OpenCV_INCLUDE_DIRS}
	 
	${kinect2_bridge_INCLUDE_DIRS}
)

add_executable(save_rgbd_from_kinect2 src/save_rgbd_from_kinect2.cpp)

target_link_libraries(save_rgbd_from_kinect2
	${catkin_LIBRARIES}
	${OpenCV_LIBRARIES}
	 
	${kinect2_bridge_LIBRARIES}
)

## Declare a C++ library
# add_library(save_rgbd_from_kinect2
#   src/${PROJECT_NAME}/save_rgbd_from_kinect2.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(save_rgbd_from_kinect2 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
# add_executable(save_rgbd_from_kinect2_node src/save_rgbd_from_kinect2_node.cpp)

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(save_rgbd_from_kinect2_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(save_rgbd_from_kinect2_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
 install(TARGETS save_rgbd_from_kinect2 
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_save_rgbd_from_kinect2.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)