ImageSaver.cpp

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// a simple program to save image messages

#include <ros/ros.h>

#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/CvBridge.h>
#include <image_transport/image_transport.h>

#include <sstream>

int numimage;

void ImageCallback(const sensor_msgs::Image::ConstPtr& msg) {
        try {
                sensor_msgs::CvBridge cvBridge;
                cv::Mat temp = cvBridge.imgMsgToCv(msg);
                std::stringstream s;
                s<<numimage<<".png";
                cv::imwrite(s.str().c_str(), temp);
                numimage++;
         } catch (sensor_msgs::CvBridgeException error) {
                 ROS_ERROR("error converting image message");
         }
}

int main(int argc, char* argv[]) {

        ros::init(argc, argv, "image_saver");
        ros::NodeHandle n;
        std::string imagetopic;
        if (!n.getParam("images", imagetopic)) {
                ROS_ERROR("image has not been set! Typical command-line usage:\n"
                                 "rosparam set /images '<topic>'");
                return 0;
        }

        numimage = 0;

        image_transport::ImageTransport imageTransport(n);
        image_transport::Subscriber imageSubscriber(imageTransport.subscribe(imagetopic, 1, ImageCallback));

        ros::spin();

        return 0;

}