读取realsense彩色图像并且保存为图片

#include <ros/ros.h>#include <image_transport/image_transport.h>#include <opencv2/highgui/highgui.hpp>#include "sensor_msgs/image_encodings.h"     #include <cv_bridge/cv_bridge.h>#include <iostream>using namespace cv;using namespace std;int rate  = 30;Mat globalImage(Size(640,480),CV_8UC3);int chess_num =0;void imageCallback1(const sensor_msgs::ImageConstPtr& tem_msg){    cv_bridge::CvImagePtr cv_ptr;    try    {        cv_ptr = cv_bridge::toCvCopy(tem_msg, "bgr8");        Mat chess = cv_ptr->image;        char path[15];        cv::imshow("color", chess);        if(waitKey(10) == 's')        {            sprintf(path, "%s%d%s", "chessbord", chess_num++, ".jpg");            imwrite(path,chess);        }    }    catch (cv_bridge::Exception& e)    {        ROS_ERROR("Could not convert from '%s' to 'mono8'.", tem_msg->encoding.c_str());    }}int main(int argc, char** argv){    ros::init(argc, argv, "realsense_savepicture");    ros::NodeHandle nh;    image_transport::ImageTransport it(nh);    image_transport::Subscriber sub1 = it.subscribe("/camera/color/image_raw",1,imageCallback1);    ros::Rate loop_rate(30);    while (nh.ok()) {        //pub.publish(msg);        ros::spinOnce();        loop_rate.sleep();    }}