bool saveImage(cv::Mat image, std::string &filename, bool depth = false) {
if (!image.empty()) {
try {
filename = (g_format).str();
} catch (...) { g_format.clear(); }
try {
filename = (g_format % path).str();
} catch (...) { g_format.clear(); }
try {
filename = (g_format % path % count_).str();
} catch (...) { g_format.clear(); }
try {
filename = (g_format % path % count_ % "jpg").str();
} catch (...) { g_format.clear(); }
try {
if(!depth){
filename = (g_format % path % count_ % control % "jpg").str();
}else{
filename = (g_format % path_depth % count_ % control % "jpg").str();
}
} catch (...) { g_format.clear(); }
if ( save_all_image || save_image_service ) {
try{
cv::imwrite(filename, image);
ROS_INFO("Saved image %s", filename.c_str());
save_image_service = false;
}catch(runtime_error& ex){
fprintf(stderr, "Exception converting image to PNG format: %s\n", ex.what());
return false;
}
} else {
return false;
}
} else {
ROS_WARN("Couldn't save image, no data!");
return false;
}
return true;
}
bool saveImage(const sensor_msgs::ImageConstPtr& image_msg, std::string &filename) {
cv::Mat image;
try
{
image = cv_bridge::toCvShare(image_msg, encoding)->image;
} catch(cv_bridge::Exception)
{
ROS_ERROR("Unable to convert %s image to bgr8", image_msg->encoding.c_str());
return false;
}
if (!image.empty()) {
try {
filename = (g_format).str();
} catch (...) { g_format.clear(); }
try {
filename = (g_format % count_).str();
} catch (...) { g_format.clear(); }
try {
filename = (g_format % count_ % "jpg").str();
} catch (...) { g_format.clear(); }
if ( save_all_image || save_image_service ) {
cv::imwrite(filename, image);
ROS_INFO("Saved image %s", filename.c_str());
save_image_service = false;
} else {
return false;
}
} else {
ROS_WARN("Couldn't save image, no data!");
return false;
}
return true;
}