Undefined property: Main::$upload , Codeigniter - codeigniter

I am trying to upload single image using codeigniter. But getting error
"Undefined property: Main::$upload
Filename: controllers/Main.php
Line Number: 14"
This is my controller file "controller/Main.php"
<?php
class Main extends CI_Controller
{
public function index(){
$this->load->view('main_view', array('error' => ''));
}
public function upload(){
$config['upload_path'] = "./images/";
$config['allowed_types'] = 'jpg|png|gif';
$this->load->initialize('upload', $config);
if(!$this->upload->do_upload()){
$error = array('error' => $this->upload->display_errors());
$this->load->view('main_view', $error);
}
else {
$file_data = $this->upload->data();
$data['img'] = base_url().'/images/'.$file_data['file_name'];
$this->load->view('success_msg', $data);
}
}
}
?>
and this is my view file "views/main_view.php"
<!DOCTYPE html>
<html>
<head>
<title>Image</title>
</head>
<body>
<?php echo $error; ?>
<?php echo form_open_multipart('main/upload');?>
<input type="file" name="userfile" />
<input type="submit" name="Submit" value="upload image"/>
</form>
</body>
</html>
when image upload is successful I'm trying to show the image by this "view/success_msg.php"
<!DOCTYPE html>
<html>
<head>
<title>Image</title>
</head>
<body>
<h1>File has been uploaded.</h1>
<img src="<?php $img?>" width="300" height="300">
</body>
</html>
my image folder name is "images" and it is in the root directory. Please help my why I am having this error ?

Maybe the upload library isn't loaded. Change the first few lines ofpublic function upload() to the following
public function upload(){
$config['upload_path'] = "./images/";
$config['allowed_types'] = 'jpg|png|gif';
$this->load->library('upload', $config);
By sending $config to load->library you do not need to use initialize().

Controller
public function upload(){
$cc = $_FILES['userfile']['name'];
$extension = pathinfo($cc, PATHINFO_EXTENSION);
$newfile = preg_replace('/[^A-Za-z0-9]/', "", $_FILES["userfile"]['name']);
$config['file_name'] = time() . $newfile;
$ss = ".";
$picture1 = time() . $newfile . $ss . $extension;
$config['upload_path'] = "./images/";
$config['allowed_types'] = 'jpg|jpeg|png|gif|pdf';
$this->load->library('upload', $config);
if (!$this->upload->do_upload('userfile')) {
echo $this->upload->display_errors();
} else {
$this->load->view('success_msg', $picture1 );
}
}
View page
<!DOCTYPE html>
<html>
<head>
<title>Image</title>
</head>
<body>
<?php echo $error; ?>
<?php echo form_open_multipart('main/upload');?>
<input type="file" name="userfile" />
<input type="submit" name="Submit" value="upload image"/>
</form>
</body>
</html>
view/success_msg.php
<!DOCTYPE html>
<html>
<head>
<title>Image</title>
</head>
<body>
<h1>File has been uploaded.</h1>
<img src="<?php $picture1 ?>" width="300" height="300">
</body>
</html>

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<?php
class Gallery extends CI_Controller
{
function index()
{
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if($this->input->post('upload'))
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<?php
class Gallery_model extends CI_Model{
var $gallery_path;
var $gallery_path_url;
function __construct()
{
parent::__construct();
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function do_upload()
{
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'allowed_types' => 'jpg|jpeg|gif|png',
'upload_path' => $this->gallery_path,
'max_size' => 2000
);
$this->load->library('upload', $config);
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{
die($this->upload->display_errors());
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$image_data = $this->upload->data();
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'width' => 150,
'height' => 100
);
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{
die($this->image_lib->display_errors());
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}
function get_images(){
$files = scandir($this->gallery_path);
$files = array_diff($files, array('.', '..', 'thumbs'));
$images = array();
foreach ($files as $file){
$images[] = array(
'url' => $this->gallery_path_url . $file,
'thumb_url' => $this->gallery_path_url . 'thumbs/' . $file,
);
}
}
}
?>
Any help much appreciated!
function get_images(){
/* all the stuff you already have... */
/* return the array! */
return $images;
}

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