node crashes after rosrun !!

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/* * blobdetection.cpp

• Created on: 23/03/2017
• Author: zubair khan */

#include <ros ros.h=""> #include <stdlib.h> #include <iostream> #include <opencv2 highgui="" highgui.hpp=""> #include <opencv2 opencv.hpp=""> #include <opencv2 imgproc="" imgproc.hpp=""> #include <opencv2 core="" core.hpp=""> #include <librealsense rs.hpp=""> #include <librealsense rscore.hpp=""> #include <cv_bridge cv_bridge.h=""> #include <image_transport image_transport.h=""> #include <sensor_msgs image_encodings.h=""> #include <geometry_msgs twist.h=""> #include <geometry_msgs vector3.h=""> #include <pcl point_types.h=""> #include <pcl_ros transforms.h=""> #include <pcl conversions.h=""> #include <pcl pclpointcloud2.h=""> #include <pcl_conversions pcl_conversions.h=""> #include <boost foreach.hpp=""> #include <geometry_msgs point.h=""> #include <sensor_msgs pointcloud2.h="">

namespace enc = sensor_msgs::image_encodings; using namespace std;

static const char WINDOW[] = "Image Processed"; static const char RESULT[] = "Tracking";

sensor_msgs::PointCloud2 my_pcl;

//Use method of ImageTransport to create image publisher image_transport::Publisher pub; bool hasNewPcl = false;

int LowerH = 170; int LowerS = 150; int LowerV = 60; int UpperH = 179; int UpperS = 255; int UpperV = 255;

int posX; int posY;

ros::NodeHandle *n;

sensor_msgs::PointCloud2 depth; pcl::PointCloud < pcl::PointXYZ > pcl_cloud;

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

void depthcallback (const sensor_msgs::PointCloud2ConstPtr& cloud_msg) { my_pcl = *cloud_msg; hasNewPcl = true; cout<<"here"<<endl;< p="">

}

void getXYZ(int x, int y) { int arrayPosition = ymy_pcl.row_step + xmy_pcl.point_step; int arrayPosX = arrayPosition + my_pcl.fields[0].offset; int arrayPosY = arrayPosition + my_pcl.fields[1].offset; int arrayPosZ = arrayPosition + my_pcl.fields[2].offset;

float X ;

float Y ; float Z ;

memcpy(&X, &my_pcl.data[arrayPosX], sizeof(float));
memcpy(&Y, &my_pcl.data[arrayPosY], sizeof(float));
memcpy(&Z, &my_pcl.data[arrayPosZ], sizeof(float));

geometry_msgs::Point p; // put data into the point p p.x = X; p.y = Y; p.z = Z; std::cout<<"z:"<<p.z&lt;<std::endl; }<="" p="">

void blobDetectionCallback(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 { 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; } cv::Mat img_mask,img_hsv; cv::cvtColor(cv_ptr->image,img_hsv,CV_BGR2HSV); cv::inRange(img_hsv,cv::Scalar(LowerH,LowerS,LowerV),cv::Scalar(UpperH,UpperS,UpperV),img_mask);

cv::erode(img_mask, img_mask, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5)) );
cv::dilate(img_mask, img_mask, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5)) ); 

cv::erode(img_mask, img_mask, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5)) );
cv::dilate(img_mask, img_mask, cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5)) ); 

//Calculate the moments of the thresholded image
cv:: Moments oMoments = moments(img_mask);

double dM01 = oMoments.m01;
double dM10 = oMoments.m10;
double dArea = oMoments.m00;

posX = dM10 / dArea;
posY = dM01 / dArea;

std::cout<<"posx:"<<posX<<"posy:"<<posY<<std::endl;   

cv::circle(img_mask, cv::Point(posX, posY), 10, cv::Scalar(0,255,255), 2);

    cv::Mat Points;
cv::findNonZero(img_mask,Points);
cv::Rect Min_Rect=boundingRect(Points);

cv::rectangle(img_mask,Min_Rect.tl(),Min_Rect.br(),cv::Scalar(255,0,0),1);

cv::imshow(RESULT, img_mask);

//Convert the CvImage to a ROS image message and publish it on the "camera/image_processed" topic.
pub ...