From 1302ff3c1633892a2fe904729bb150b24ea2da84 Mon Sep 17 00:00:00 2001
From: ravich2_7183 <ravich3141@gmail.com>
Date: Mon, 16 Jan 2017 13:27:09 +0530
Subject: [PATCH 1/2] Updated code from cv to cv2.

---
 camera_image/package.xml          | 2 ++
 camera_image/scripts/ip_camera.py | 7 +++----
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/camera_image/package.xml b/camera_image/package.xml
index 7e39486..4a24894 100644
--- a/camera_image/package.xml
+++ b/camera_image/package.xml
@@ -12,10 +12,12 @@
   <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>cv_bridge</build_depend>
   <!-- <build_depend>tf</build_depend> -->
   <run_depend>rospy</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
+  <run_depend>cv_bridge</run_depend>
   <!-- <run_depend>tf</run_depend> -->
 
   <export>
diff --git a/camera_image/scripts/ip_camera.py b/camera_image/scripts/ip_camera.py
index c03fbb2..18bd45c 100644
--- a/camera_image/scripts/ip_camera.py
+++ b/camera_image/scripts/ip_camera.py
@@ -40,11 +40,10 @@ def __init__(self, url):
         if a!=-1 and b!=-1:
             jpg = ip_camera.bytes[a:b+2]
             ip_camera.bytes= ip_camera.bytes[b+2:]
-            i = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8),cv2.CV_LOAD_IMAGE_COLOR)
-            image_message = cv.fromarray(i)
-            ip_camera.image_pub.publish(ip_camera.bridge.cv_to_imgmsg(image_message, "bgr8"))
+            image_message = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8),cv2.CV_LOAD_IMAGE_COLOR)
+            ip_camera.image_pub.publish(ip_camera.bridge.cv2_to_imgmsg(image_message, "bgr8"))
 
             if args.gui:
-                cv2.imshow('IP Camera Publisher Cam',i)
+                cv2.imshow('IP Camera Publisher Cam',image_message)
             if cv2.waitKey(1) ==27: # wait until ESC key is pressed in the GUI window to stop it
                 exit(0) 

From ff2c4ae0410b943788c1f7ef2398627ea7d4bfc6 Mon Sep 17 00:00:00 2001
From: ravich2_7183 <ravich3141@gmail.com>
Date: Mon, 16 Jan 2017 13:36:53 +0530
Subject: [PATCH 2/2] Added README

---
 README.md | 7 +++++++
 1 file changed, 7 insertions(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..3a8f367
--- /dev/null
+++ b/README.md
@@ -0,0 +1,7 @@
+## To run:
+python camera_image/scripts/ip_camera.py -u http://192.168.100.2:8080/video
+
+replace ip address with your camera's. 
+
+## To test frame rate:
+rostopic hz --window=1000 /camera_image