```

include <iostream>

include <ros ros.h="">

include <sensor_msgs image.h="">

include <sensor_msgs image_encodings.h="">

include <cv_bridge cv_bridge.h="">

include <opencv2 highgui="" highgui.hpp="">

using namespace std;

static const uint32_t MY_ROS_QUEUE_SIZE = 1000;

void imgcb(const sensor_msgs::Image::ConstPtr& msg) { try { cv_bridge::CvImageConstPtr cv_ptr; cv_ptr = cv_bridge::toCvShare(msg);

    //get image dimension once
    static bool runOnce = true;
    if (runOnce){
        cout << "Image dimension (Row,Col): " << cv_ptr->image.rows << " x " << cv_ptr->image.cols << endl;
        runOnce = false;
    }

    //get global max depth value
    double max = 0.0;
    cv::minMaxLoc(cv_ptr->image, 0, &max, 0, 0);
    std::cout << "Max value: " << max << endl;

    //get global min depth value
    double min = 0.0;
    cv::minMaxLoc(cv_ptr->image, &min, &max, 0, 0);
    std::cout << "Min value: " << min << endl;

    //get depth value at a point
    float distanceVal = cv_ptr->image.at<float>(100, 100);
    std::cout << "Distance value: " << distanceVal << "m" << endl;

} catch (const cv_bridge::Exception& e) {
    ROS_ERROR("cv_bridge exception: %s", e.what());
}

}

int main(int argc, char* argv[]) { ros::init(argc, argv, "foo");

std::cout << "Getting Image depth value!" << std::endl;

ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe("camera/depth/image_raw", MY_ROS_QUEUE_SIZE, imgcb);

ros::spin();

std::cout << "Done" << std::endl;

return 0;

} ```

```The below code:

Code:

#include <iostream>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>

#include <opencv2/highgui/highgui.hpp>

using namespace std;
 
std;

static const uint32_t MY_ROS_QUEUE_SIZE = 1000;
 
1000;

void imgcb(const sensor_msgs::Image::ConstPtr& msg)
{
    try {
        cv_bridge::CvImageConstPtr cv_ptr;
        cv_ptr = cv_bridge::toCvShare(msg);
 
cv_bridge::toCvShare(msg);

        //get image dimension once
     static bool runOnce = true;
     if (runOnce){
         cout << "Image dimension (Row,Col): " << cv_ptr->image.rows << " x " << cv_ptr->image.cols << endl;
         runOnce = false;
     }

     //get global max depth value
     double max = 0.0;
     cv::minMaxLoc(cv_ptr->image, 0, &max, 0, 0);
     std::cout << "Max value: " << max << endl;

     //get global min depth value
     double min = 0.0;
     cv::minMaxLoc(cv_ptr->image, &min, &max, 0, 0);
     std::cout << "Min value: " << min << endl;

     //get depth value at a point
     float distanceVal = cv_ptr->image.at<float>(100, 100);
     std::cout << "Distance value: " << distanceVal << "m" << endl;

 } catch (const cv_bridge::Exception& e) {
     ROS_ERROR("cv_bridge exception: %s", e.what());
 }
 
}
 
}

int main(int argc, char* argv[])
{
    ros::init(argc, argv, "foo");
 
"foo");

    std::cout << "Getting Image depth value!" << std::endl;

 ros::NodeHandle nh;
 ros::Subscriber sub = nh.subscribe("camera/depth/image_raw", MY_ROS_QUEUE_SIZE, imgcb);

 ros::spin();

 std::cout << "Done" << std::endl;

 return 0;
}
  
}
```