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1 | initial version |
I managed to sort it out the following way, using this answer as a reference http://answers.ros.org/question/9765/how-to-convert-cvmat-to-sensor_msgsimageptr/?answer=14282#post-id-14282:
cv::WImageBuffer3_b image(
cvLoadImage(filePath.c_str(), CV_LOAD_IMAGE_COLOR));
cv::Mat imageMat(image.Ipl());
cv_bridge::CvImage out_msg;
out_msg.encoding = sensor_msgs::image_encodings::BGR8;
out_msg.image = imageMat;
out_msg.header.seq = i;
out_msg.header.frame_id = i;
out_msg.header.stamp = ros::Time::now();
ci->header.seq = i;
ci->header.frame_id = i;
ci->header.stamp = out_msg.header.stamp;
pub.publish(out_msg.toImageMsg(), ci);
2 | No.2 Revision |
I managed to sort it out the following way, using this answer as a reference http://answers.ros.org/question/9765/how-to-convert-cvmat-to-sensor_msgsimageptr/?answer=14282#post-id-14282 :
cv::WImageBuffer3_b image(
cvLoadImage(filePath.c_str(), CV_LOAD_IMAGE_COLOR));
cv::Mat imageMat(image.Ipl());
cv_bridge::CvImage out_msg;
out_msg.encoding = sensor_msgs::image_encodings::BGR8;
out_msg.image = imageMat;
out_msg.header.seq = i;
out_msg.header.frame_id = i;
out_msg.header.stamp = ros::Time::now();
ci->header.seq = i;
ci->header.frame_id = i;
ci->header.stamp = out_msg.header.stamp;
pub.publish(out_msg.toImageMsg(), ci);