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 
//Use image_transport for publishing and subscribing to images in ROS
#include 
//Use cv_bridge to convert between ROS and OpenCV Image formats
#include 

#include 
//Include headers for OpenCV Image processing
#include 
//Include headers for OpenCV GUI handling
#include 
#include    
#include 
#include 

#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include    
#include    
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 30000
static int sockfd;
static struct sockaddr_in serv_addr;

//static ros::Publisher capture;  
//This function is called everytime a new image_info message is published
void 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 published
void 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;    
      imwrite(strs,image1);//保存图片
      image_numP.data=image_num;
      cout<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("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。