png_to_img.cpp

Go to the documentation of this file.

#include <ros/ros.h>
#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <cv_bridge/cv_bridge.h>
#include <highgui.h>
#include <iostream>
#include <fstream>

int main(int argc, char **argv) {
  if(argc<3) {
    std::cerr<<"please specify *.png -> *.img\n";
    return 1;
  }

  cv_bridge::CvImage tmp;
  tmp.encoding="rgb8";
  tmp.image = cv::imread(argv[1],-1);



  sensor_msgs::ImageConstPtr last_img_ = tmp.toImageMsg();

std::ofstream img_stream;

img_stream << *last_img_;

img_stream.close();


//  //serialize image
//  FILE *fp = fopen(argv[2],"wb");
//  if(fp)
//  {
//    uint32_t len = last_img_->serializationLength();
//
//    uint8_t *wptr = new uint8_t[len];
//    last_img_->serialize(wptr,0);
//    fwrite(wptr, 1, len, fp);
//    delete [] wptr;
//
//    fclose(fp);
//  }
//  else {
//    ROS_ERROR("couldn't open %s", argv[2]);
//    return 1;
//  }

  return 0;
}