ROS_OpenCV_socket传送图像_结果不对

//Includes all the headers necessary to use the most common public pieces of the ROS system.#include <ros/ros.h>//Use image_transport for publishing and subscribing to images in ROS#include <image_transport/image_transport.h>//Use cv_bridge to convert between ROS and OpenCV Image formats#include <cv_bridge/cv_bridge.h>#include <sensor_msgs/image_encodings.h>//Include headers for OpenCV Image processing#include <opencv2/imgproc/imgproc.hpp>//Include headers for OpenCV GUI handling#include <opencv2/highgui/highgui.hpp>#include<string>    #include <sstream>#include <std_msgs/UInt8.h>#include <sys/types.h>#include <sys/socket.h>#include <stdio.h>#include <stdlib.h>#include <string.h>#include <sys/ioctl.h>#include <unistd.h>#include <netdb.h>#include <netinet/in.h>   #include  <arpa/inet.h>  using namespace cv;using namespace std;//Store all constants for image encodings in the enc namespace to be used later.  namespace enc = sensor_msgs::image_encodings; void image_socket(Mat inImg);Mat image1;static int imgWidth, imgHeight;static ros::Publisher img_numPub;static int image_num = 1;std_msgs::UInt8 image_numP;int socket();#define PORT 30000#define BUFFER_SIZE 30000static int sockfd;static struct sockaddr_in serv_addr;//static ros::Publisher capture;  //This function is called everytime a new image_info message is publishedvoid camInfoCallback(const sensor_msgs::CameraInfo & camInfoMsg){  //Store the image width for calculation of angle  imgWidth = camInfoMsg.width;  imgHeight = camInfoMsg.height;}//This function is called everytime a new image is publishedvoid imageCallback(const sensor_msgs::ImageConstPtr& original_image){    //Convert from the ROS image message to a CvImage suitable for working with OpenCV for processing    cv_bridge::CvImagePtr cv_ptr;      try      {          //Always copy, returning a mutable CvImage          //OpenCV expects color images to use BGR channel order.          cv_ptr = cv_bridge::toCvCopy(original_image, enc::BGR8);      }      catch (cv_bridge::Exception& e)      {          //if there is an error during conversion, display it          ROS_ERROR("tutorialROSOpenCV::main.cpp::cv_bridge exception: %s", e.what());          return;      }      image_socket(cv_ptr->image);}void image_socket(Mat inImg){   imshow("image_socket", inImg);//显示图片    if( inImg.empty() )    {      ROS_INFO("Camera image empty");      return;//break;    }    stringstream sss;        string strs;    char c = (char)waitKey(1);    if( c == 27 )      ROS_INFO("Exit boss");//break;    switch(c)    {      case 'p':      resize(inImg,image1,Size(imgWidth/6,imgHeight/6),0,0,CV_INTER_LINEAR);        image1=image1(Rect(image1.cols/2-32,image1.rows/2-32, 64, 64));      strs="/home/hsn/catkin_ws/src/rosopencv/";      sss.clear();          sss<<strs;          sss<<image_num;          sss<<".jpg";          sss>>strs;          imwrite(strs,image1);//保存图片      image_numP.data=image_num;      cout<<image_num<<endl;      img_numPub.publish(image_numP);      socket();      image_num++;      break;  default:      break;  }}int socket(){    int  sendbytes;   unsigned char buf[BUFFER_SIZE];   FILE *src_file;   int real_read_len;   memset(buf, 0, sizeof(buf)); //清空发送缓冲器/*以只读方式打开源文件*/char *imgfile = "/home/hsn/catkin_ws/src/rosopencv/";   char strImg[255];   sprintf(strImg, "%s%d.jpg", imgfile, image_num);   src_file = fopen(strImg, "r");/* 将源文件的读写指针移到文件的起始位置*/   fseek(src_file, 0, SEEK_SET); /*发送文件给服务器端*/    if(NULL != src_file)      {                  printf("begin\n");          while( !feof( src_file ) )//未到文件末尾，则继续发送          {              real_read_len = fread(buf, 1, sizeof(buf), src_file);            cout<<real_read_len<<endl;           // nNumRead = fread( temp, 1, 256, src_file );            if ((sendbytes = send(sockfd, buf, real_read_len, 0)) < 0)            {                perror("Send error!\n");                cout<<sendbytes<<endl;                exit(1);            }            bzero(buf, BUFFER_SIZE);          }          printf("over\n");          fclose( src_file );         // close(sockfd);    }    return 0;}/*** This is ROS node to track the destination image*/int main(int argc, char **argv){    ros::init(argc, argv, "image_socket");    ROS_INFO("-----------------");    char * servInetAddr = "202.113.25.134";    /*创建socket*/    if ((sockfd = socket(AF_INET,SOCK_STREAM,0)) == -1)    {      perror("Socket failed!\n");      exit(1);    }    printf("Socket id = %d\n",sockfd);/*设置sockaddr_in 结构体中相关参数*/    serv_addr.sin_family = AF_INET;    serv_addr.sin_port = htons(PORT);   // serv_addr.sin_addr = *((struct in_addr *)host->h_addr);    inet_pton(AF_INET, servInetAddr, &serv_addr.sin_addr);      bzero(&(serv_addr.sin_zero), 8);    /*调用connect 函数主动发起对服务器端的连接*/    if(connect(sockfd,(struct sockaddr *)&serv_addr, sizeof(serv_addr))== -1)    {        perror("Connect failed!\n");        exit(1);    }    printf("welcome\n");      ros::NodeHandle nh;    image_transport::ImageTransport it(nh);    image_transport::Subscriber sub = it.subscribe("camera/rgb/image_raw", 1, imageCallback);    ros::Subscriber camInfo         = nh.subscribe("camera/rgb/camera_info", 1, camInfoCallback);    std_msgs::UInt8 img_numP;    img_numPub = nh.advertise<std_msgs::UInt8>("imageNumber", 10);    ros::Rate loop_rate(10);    while (ros::ok())    {       //img_numPub.publish(img_numP);       ros::spinOnce();       loop_rate.sleep();    }    //img_numP.data = 0;    //img_numPub.publish(img_numP);    //ros::spin();    close(sockfd);    //ROS_INFO is the replacement for printf/cout.    ROS_INFO("tutorialROSOpenCV::main.cpp::No error.");return 0;}

能发送数据，但是结果不对。不知道为什么。