/**
?*?
?*?函數功能：采集iaikinect2輸出的彩色圖和深度圖數據，并以文件的形式進行存儲
?*?
?*?
?*?分隔符為　逗號‘，‘　　
?*?時間戳單位為秒（s）　精確到小數點后６位（us）
?*?
?*?maker:crp
?*?2017-5-13
?*/

#include
#include
#include?
#include?
#include?
#include?

#include?
#include?
#include?
#include?
#include?

#include?//將ROS下的sensor_msgs/Image消息類型轉化成cv::Mat。
#include//頭文件sensor_msgs/Image是ROS下的圖像的類型，這個頭文件中包含對圖像進行編碼的函數

#include?
#include?
#include?
#include
#include
#include?
#include
#include?
#include?

using?namespace?std;
using?namespace?cv;

Mat?rgb?depth;
char?successed_flag1?=0successed_flag2=0;

string?topic1_name?=?“/kinect2/qhd/image_color“;?//topic?名稱
string?topic2_name?=?“/kinect2/qhd/image_depth_rect“;

string?filename_rgbdata=“/home/crp/recordData/RGBD/rgbdata.txt“;
string?filename_depthdata=“/home/crp/recordData/RGBD/depthdata.txt“;
string?save_imagedata?=?“/home/crp/recordData/RGBD/“;

bool?display_IMU5211（?unsigned?char?buf[21]?timeval?time_stampstring?&out_result）;
void?dispDepth（const?cv::Mat?&in?cv::Mat?&out?const?float?maxValue）;
void??callback_function_color（?const?sensor_msgs::Image::ConstPtr??image_data）;
void??callback_function_depth（?const?sensor_msgs::Image::ConstPtr??image_data）;
int?main（int?argcchar**?argv）
{
????string?out_result;

????namedWindow（“image?color“CV_WINDOW_AUTOSIZE）;
????namedWindow（“image?depth“CV_WINDOW_AUTOSIZE）;
????ros::init（argcargv“kinect2_listen“）;
????if（!ros::ok（））
?????????????return?0;
????ros::NodeHandle?n;
????ros::Subscriber?sub1?=?n.subscribe（topic1_name50callback_function_color）;
????ros::Subscriber?sub2?=?n.subscribe（topic2_name50callback_function_depth）;
????ros::AsyncSpinner?spinner（3）;?//?Use?3?threads
????spinner.start（）;

???string?rgb_str?dep_str;

???struct?timeval?time_val;
???struct?timezone?tz;
???double?time_stamp;

????ofstream?fout_rgb（filename_rgbdata.c_str（））;
????if（!fout_rgb）
????{
????????????cerr<????}

????ofstream?fout_depth（filename_depthdata.c_str（））;
????if（!fout_depth）
????{
?????????cerr<????}

????while（ros::ok（））
????{

?????????????if（?successed_flag1?）
????????????{
?????????????????gettimeofday（&time_val&tz）;//us
				//??time_stamp?=time_val.tv_sec+?time_val.tv_usec/1000000.0;
?????????????????ostringstream?os_rgb;
?????????????????os_rgb<?????????????????rgb_str?=?save_imagedata+“rgb/“+os_rgb.str（）+“.png“;
??????????????????imwrite（rgb_strrgb）;
??????????????????fout_rgb<??????????????????successed_flag1=0;
				??imshow（“image

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-03-10?15:26??save_rgbd_from_kinect2\
?????文件????????6741??2019-03-10?15:26??save_rgbd_from_kinect2\CMakeLists.txt
?????文件????????6799??2016-06-30?15:24??save_rgbd_from_kinect2\CMakeLists.txt~
?????目錄???????????0??2019-03-10?15:25??save_rgbd_from_kinect2\include\
?????目錄???????????0??2019-03-10?16:12??save_rgbd_from_kinect2\include\save_rgbd_from_kinect2\
?????文件????????3131??2019-03-10?15:26??save_rgbd_from_kinect2\package.xml
?????文件????????3131??2016-06-21?14:26??save_rgbd_from_kinect2\package.xml~
?????目錄???????????0??2019-03-10?23:40??save_rgbd_from_kinect2\src\
?????文件????????5960??2019-03-10?23:40??save_rgbd_from_kinect2\src\save_rgbd_from_kinect2.cpp
?????文件????????5960??2019-03-10?23:40??save_rgbd_from_kinect2\src\save_rgbd_from_kinect2.cpp~