update preprocess and evaluation part

detector_descriptor_for_LiDARimg/Dataset/image_subscriber.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+import numpy as np
+
+image_count = 0
+
+def image_callback(msg):
+    global image_count
+    print("Received an image!_{} ".format(image_count))
+    # Convert the ROS image message to a NumPy array
+    bridge = CvBridge()
+    mono16_image = bridge.imgmsg_to_cv2(msg, desired_encoding='mono16')
+
+    # Convert the "mono16" image to a grayscale OpenCV image
+    gray_image = np.uint8(mono16_image / 256)
+
+    # Save the grayscale image to disk with a unique filename
+    filename = f'./indoor/signal_image/image_{image_count:04d}.png'
+
+    cv2.imwrite(filename, gray_image)
+
+    # Increment the image counter
+    image_count += 1
+
+def image_subscriber():
+	# ROS节点初始化
+    rospy.init_node('image_subscriber')
+
+	# 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
+    rospy.Subscriber('/img_node/signal_image', Image, image_callback)
+
+	# 循环等待回调函数
+    rospy.spin()
+
+if __name__ == '__main__':
+    image_subscriber()