flann_based is the code for pose estimation

ros2_ws/src/convert_2_img/convert_2_img/convert_to_img.py

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+import rclpy
+from sensor_msgs.msg import Image
+import cv2
+import cv_bridge
+
+count = 0
+def image_callback(data):
+    bridge = cv_bridge.CvBridge()
+    try:
+        cv_image = bridge.imgmsg_to_cv2(data, "bgr8")
+    except cv_bridge.CvBridgeError as e:
+        print(e)
+    
+    global count
+    cv2.imwrite('stereo_image' + str(count)+ '.jpeg', cv_image)   
+    count = count + 1
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = rclpy.create_node('stereo_image_subscriber')
+    sub = node.create_subscription(Image, '/camera/color/image_raw', image_callback, False)
+    rclpy.spin(node)
+
+if __name__ == '__main__':
+    main()

ros2_ws/src/convert_2_img/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>convert_2_img</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="parallels@todo.todo">parallels</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+    <depend>rclpy</depend>
+  </export>
+</package>

ros2_ws/src/convert_2_img/setup.cfg

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+[develop]
+script_dir=$base/lib/convert_2_img
+[install]
+install_scripts=$base/lib/convert_2_img

ros2_ws/src/convert_2_img/setup.py

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+from setuptools import setup
+
+package_name = 'convert_2_img'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='parallels',
+    maintainer_email='parallels@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'convert_2_img = convert_2_img.convert_to_img:main'
+        ],
+    },
+)

ros2_ws/src/convert_2_img/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2_ws/src/convert_2_img/test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

ros2_ws/src/convert_2_img/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'