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I'm resuming this very old question question since I'm trying to publish a a disparityImage message, loading the the values from a png file, but I'm stuck stuck with this. Does anybody have a working working example? Thank you. Augusto

ok I have some code to share

ros::Publisher publisher   = node.advertise<stereo_msgs::DisparityImage>("test",1,true);

// Allocate new disparity image message
stereo_msgs::DisparityImagePtr disp_msg = boost::make_shared<stereo_msgs::DisparityImage>();

cv::Mat cv_image;

full_filename_image = dir_image + boost::str(boost::format("%010d") % entries_played ) + ".png";
cv_image = cv::imread(full_filename_image, CV_LOAD_IMAGE_GRAYSCALE);

// you need to know only this params for a basic usage (0-64, st.img.proc default param here)
disp_msg->min_disparity = 0;
disp_msg->min_disparity = 63;

// should be safe
disp_msg->valid_window.x_offset = 0;
disp_msg->valid_window.y_offset = 0;
disp_msg->valid_window.width    = 0;
disp_msg->valid_window.height   = 0;
disp_msg->T                     = 0;
disp_msg->f                     = 0;
disp_msg->delta_d               = 0;
disp_msg->header.stamp          = ros::Time::now();
disp_msg->header.frame_id       = ros::this_node::getName(); 
disp_msg->header.seq            = progress.count(); //a counter, int type

sensor_msgs::Image& dimage = disp_msg->image;
dimage.width  = cv_image.size().width ;
dimage.height = cv_image.size().height ;
dimage.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
dimage.step = dimage.width * sizeof(float);
dimage.data.resize(dimage.step * dimage.height);
cv::Mat_<float> dmat(dimage.height, dimage.width, reinterpret_cast<float*>(&dimage.data[0]), dimage.step);

cv_image.convertTo(dmat,dmat.type());

publisher.publish(disp_msg);