code: def __callback (self, rgb, d):
          '''
          Callback function to receive and save Rgbd Scans. 
  
          @param rgb: ROS color Image to translate
  
          @param d: ROS depth image to translate
  
          @type rgb: ImageROS
  
          @type d: ImageROS
  
          '''
          data = Images2Rgbd(rgb, d)
  
          self.lock.acquire()
          self.data = data
          self.lock.release(f __callback (self, rgb, d):
          '''
          Callback function to receive and save Rgbd Scans. 
  
          @param rgb: ROS color Image to translate
  
          @param d: ROS depth image to translate
  
          @type rgb: ImageROS
  
          @type d: ImageROS
  
          '''
          data = Images2Rgbd(rgb, d)
  
          self.lock.acquire()
          self.data = data
          self.lock.release()
docs: Callback function to receive and save Rgbd Scans. 
  
          @param rgb: ROS color Image to translate
  
          @param d: ROS depth image to translate
  
          @type rgb: ImageROS
  
          @type d: ImageROS