I want to blend two images the rgb and the depth to look for the shift between. This is my program, I make it very easy to understand just using the basic of ros programming
#include <ros/ros.h> #include <image_transport/image_transport.h> #include <opencv/cv.h> #include <opencv/highgui.h> #include <cv_bridge/cv_bridge.h> #include <sensor_msgs/image_encodings.h> using namespace cv; cv_bridge::CvImagePtr cv_ptr_rgb; void imageCallbackrgb(const sensor_msgs::ImageConstPtr& msg) { //cv_bridge::CvImagePtr cv_ptr_rgb; try { cv_ptr_rgb = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::MONO8); } catch (cv_bridge::Exception& e) { ROS_ERROR("cv_bridge exception: %s", e.what()); return; } //cv::imshow("OpenCV viewer Kinect RGB", cv_ptr_rgb->image); cvWaitKey(3); } void imageCallbackdepth(const sensor_msgs::ImageConstPtr& msg) { // convert message from ROS to openCV cv_bridge::CvImagePtr cv_ptr_depth; try { cv_ptr_depth = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_16UC1); } catch (cv_bridge::Exception& e) { ROS_ERROR("cv_bridge exception: %s", e.what()); return; } //conversion 16UC to 8UC /* Conversion Sutffs */ /* //*******************************blending two images************************************* double alpha = 0.5; double beta; beta = ( 1.0 - alpha ); Mat dst; addWeighted( cv_ptr_rgb->image, alpha, image_8CU, 0.5, 0.5, dst); cv::imshow( "Linear Blend", dst ); //************************************************************************************** */ cv::imshow("OpenCV viewer Kinect RGB", cv_ptr_rgb->image); //cv::imshow("OpenCV viewer Kinect depth", image8U); cvWaitKey(3); } int main(int argc, char **argv) { ros::init(argc, argv, "listenerKinectuEye"); ros::NodeHandle nh; image_transport::ImageTransport it(nh); image_transport::Subscriber subkirgb = it.subscribe("/camera/rgb/image_color", 1, imageCallbackrgb); image_transport::Subscriber subkidepth = it.subscribe("/camera/depth_registered/image_raw", 1, imageCallbackdepth); ROS_INFO("subscribed to Kinect and uEye topics"); ros::spin(); } And this is the error that I get (sub_node is my executable):
sub_node: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr::operator->() const [with T = cv_bridge::CvImage]: Assertion `px != 0' failed. Aborted (core dumped)
the error comes from the pointer cv_ptr_rgb that I use in imageCallbackdepth because even when I try to
cv::imshow("OpenCV viewer Kinect RGB", cv_ptr_rgb->image); before doing any blending I get the same error.
How to solve this ? (there is another way to do it?)
Originally posted by ROSkinect on ROS Answers with karma: 751 on 2014-07-31
Post score: 0
Original comments
Comment by 2ROS0 on 2014-07-31:
Is this really a ROS problem?
Comment by ROSkinect on 2014-08-01:
I don't know you have the same problem ? I found a basic solution you can use it