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I'm not sure, if it can work like this. The extra parameter is usually for callbacks that are member functions.

What you want is to use boost::bind.

Your subscriber call should look like this:

ros::Subscriber subLeft = nh.subscribe ("/bb2/left/image_raw", 10,
    boost::bind(imageCallback, _1, pointerToImageManagmentStruct) );

(untested, but the call should be similar to this)

I'm not sure, if it can work like this. The extra parameter is usually for callbacks that are member functions.

What you want is to use boost::bind.

Your subscriber call should look like this:

ros::Subscriber subLeft = nh.subscribe nh.subscribe<sensor_msgs::Image> ("/bb2/left/image_raw", 10,
    boost::bind(imageCallback, _1, pointerToImageManagmentStruct) );

(untested, but the call should be similar to this)