testdepthperpixel.py

#!/usr/bin/env python
from __future__ import print_function

import roslib
#roslib.load_manifest('my_package')
import sys
import rospy
import cv2
from std_msgs.msg import String
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

class image_converter:

	def __init__(self):
		self.image_pub = rospy.Publisher("image_topic_2",Image,queue_size=10)

		self.bridge = CvBridge()
		self.image_sub = rospy.Subscriber("/camera/depth/image_raw",Image,self.callback)

	def callback(self,data):
		try:
			cv_image = self.bridge.imgmsg_to_cv2(data, "32FC1")
			print(cv_image[240,320])
			print(cv_image.shape)
			#print(cv_image)
		except CvBridgeError as e:
			print(e)
		  

		cv2.imshow("Image window", cv_image)
		cv2.waitKey(3)
		cv2.imwrite("/home/user/Desktop/fotokinct.jpg", cv_image)

		try:
			self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
		except CvBridgeError as e:
			print(e)

def main(args):
	ic = image_converter()
	rospy.init_node('image_converter', anonymous=True)
	try:
		rospy.spin()
 	except KeyboardInterrupt:
		print("Shutting down")
	cv2.destroyAllWindows()

if __name__ == '__main__':
	main(sys.argv)