I'm having an issue where when I get my const sensor_msgs::ImageConstPtr &msg
in my callback function, and do a cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
where cv_ptr
is a cv_bridge::CvImagePtr
, and try to do anything with the cv_ptr->image
, the line where I do toCvCopy
segfaults. When I leave the pointer alone and maybe access its contents or something elsewhere in my class, it's seemingly fine... I'm extremely confused.
Here's some of my real code:
void CNNLocalizer::imageCB(const sensor_msgs::ImageConstPtr &msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
ROS_INFO("Attempt!");
cv::Mat image = cv_ptr->image.clone();
ROS_INFO("Success!");
image.convertTo(g_most_recent_image_, CV_32FC3);
g_img_height_ = msg->height;
g_img_width_ = msg->width;
g_got_image_ = true;
}
catch (cv_bridge::Exception &e)
{
ROS_ERROR("Failed converting the received message: %s", e.what());
return;
}
}
If I get rid of the business where I try to clone
the cv_ptr->image
, there is no segfault... Any tips or tricks? Am I misunderstanding how things are working here...?
Edit: I am running my camera data through a looping rosbag with --clock enabled.
try debugging that using a try/catch block for "cv_bridge::toCvCopy"
and add the exception description when it occurs.
A quick fix would be changing the line :
to :
This should work just fine.