text: import rospy
  from sensor_msgs.msg import Image
  import cv2
  from cv_bridge import CvBridge, CvBridgeError
  import message_filters
  import numpy as np
  
  def callback(image_sub):
  	#print(depth)	
  	try:
  		#depth_image = CvBridge.imgmsg_to_cv2(image_sub,"CV_16UC1")
  		depth_image = CvBridge.imgmsg_to_cv2(image_sub,"32FC1")
  		#print(depth_image)
  		#print(np.shape(image_sub))
  		#cv2.imwrite("tmp.png",image_sub)
  	except CvBridgeError as e:
  		print(e)
  	
  
  def main():
  	node_name = "/camera/depth/image_raw"
  	rospy.init_node('listener', anonymous=True)
  	image_sub = message_filters.Subscriber(node_name, Image)
  	#ts = message_filters.TimeSynchronizer([image_sub], 10)
  	#ts.registerCallback(callback)
  	image_sub.registerCallback(callback)
  	rospy.spin()
  
  if __name__== '__main__':
  	main()
  