serverimg_singleimg.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);

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

  string folder_path = ros::package::getPath("PedestrianDetect");
  
  vect.clear();
  
  
//   GetFileList(folder_path, vect);
  
//   cout<<"Numero de ficheiros"<<vect.size()<<endl;
//   
//   for(uint n=0; n<vect.size();n++)
//     
//   {
//     cout<<"directorio: "<<vect[n].string()<<endl;
//   }
  
  
//   string ImgPath=folder_path+"/640.png";
  string ImgPath="/home/pedrobatista/workingcopy/lar3/perception/pedestrians/PedestrianDetect/human3.png";
  
//   cout<<"path: "<<path<<endl;
  
  cv_ptr->image = cv::imread(ImgPath, CV_LOAD_IMAGE_COLOR);
  
  image_transport::Publisher pub = it.advertise ("Image_In", 1);

  sensor_msgs::ImagePtr msg = cv_ptr->toImageMsg ();

  msg->encoding = "rgb8";
  msg->header.frame_id = "Image_in";


//   ROS_INFO("msg = %s", msg->encoding.c_str() );

  ros::Rate loop_rate (1);
  
  while (nh.ok ())
    {
      msg->header.stamp = ros::Time::now ();
      pub.publish (msg); 
      ros::spinOnce ();
      loop_rate.sleep ();
    }


}