serverimg_folder.cpp

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#include "peddetect.h"


int main (int argc, char **argv)
{
  ros::init (argc, argv, "image_publisher");
  PVector vect;

  ros::NodeHandle nh;
  image_transport::ImageTransport it (nh);
  image_transport::Publisher pub = it.advertise ("Image_In", 1);

  cv_bridge::CvImagePtr cv_ptr (new cv_bridge::CvImage);

//   string folder_path = ros::package::getPath("PedDetect");
  
  
//   string folder_path= "/home/pedrobatista/Desktop/INRIAPerson/train_64x128_H96/pos"; // pos train windows
//   string folder_path= "/home/pedrobatista/Desktop/INRIAPerson/train_64x128_H96/neg"; // -< neg big train images
//   
//   string folder_path= "/home/pedrobatista/Desktop/INRIAPerson/test_64x128_H96/neg"; // < neg big test images 
//   string folder_path= "/home/pedrobatista/Desktop/INRIAPerson/test_64x128_H96/pos"; // -< post test windows

  
  string folder_path="/home/pedrobatista/Desktop/AtlasDataset/BootData";
  
  
  vect.clear();
  
  
  GetFileList(folder_path, vect);
  
  sensor_msgs::ImagePtr msg;
  
    
  ros::Rate loop_rate (0.04);

  int nfiles = vect.size(); int n=0;

//   cout<<"nfiles: "<<nfiles<<endl;
  
  sleep(1);
 
  while (nh.ok () && n<nfiles )
    {
      string ImgPath=vect[n].string();
      
      if (strstr(vect[n].string().c_str(),".jpg") || strstr(vect[n].string().c_str(),".png"))
      {
        
        cv_ptr->image = cv::imread(ImgPath, CV_LOAD_IMAGE_COLOR);
        
        msg = cv_ptr->toImageMsg ();
        msg->header.frame_id = "Image_in";
        msg->encoding = "rgb8";
        msg->header.stamp = ros::Time::now ();
        
        pub.publish (msg);
        n++;
        cout<<"nfiles: "<<n<<endl; 
      }
      
      ros::spinOnce ();
      
      loop_rate.sleep ();
    }
  
  
  
}