MarviB16's profile - activity

Hello,

I am currently trying to implement a message that includes the images as well as the detected bounding boxes. The publisher works very well, but the subscriber gives me the following error message:

In file included from /usr/include/boost/function/detail/maybe_include.hpp:18:0,
                 from /usr/include/boost/function/detail/function_iterate.hpp:14,
                 from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:52,
                 from /usr/include/boost/function.hpp:64,
                 from /opt/ros/kinetic/include/ros/forwards.h:40,
                 from /opt/ros/kinetic/include/ros/common.h:37,
                 from /opt/ros/kinetic/include/ros/ros.h:43,
                 from /home/marvin/catkin_ws/src/efr_object_detection_camera/src/template_matching.cpp:5:
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static void boost::detail::function::void_function_invoker1<FunctionPtr, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with FunctionPtr = void (*)(const darknet_ros_msgs::ImageWithBoundingBoxes_<std::allocator<void> >&); R = void; T0 = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&]’:
/usr/include/boost/function/function_template.hpp:940:38:   required from ‘void boost::function1<R, T1>::assign_to(Functor) [with Functor = void (*)(const darknet_ros_msgs::ImageWithBoundingBoxes_<std::allocator<void> >&); R = void; T0 = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&]’
/usr/include/boost/function/function_template.hpp:728:7:   required from ‘boost::function1<R, T1>::function1(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = void (*)(const darknet_ros_msgs::ImageWithBoundingBoxes_<std::allocator<void> >&); R = void; T0 = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/usr/include/boost/function/function_template.hpp:1077:16:   required from ‘boost::function<R(T0)>::function(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = void (*)(const darknet_ros_msgs::ImageWithBoundingBoxes_<std::allocator<void> >&); R = void; T0 = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/home/marvin/catkin_ws/src/efr_object_detection_camera/src/template_matching.cpp:55:26:   required from here
/usr/include/boost/function/function_template.hpp:118:11: error: invalid initialization of reference of type ‘const darknet_ros_msgs::ImageWithBoundingBoxes_<std::allocator<void> >&’ from expression of type ‘const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >’
           BOOST_FUNCTION_RETURN(f(BOOST_FUNCTION_ARGS));
           ^

This is the message in question:

Header header

Header image_header

BoundingBox[] bounding_boxes

sensor_msgs/Image im

And this is my subscriber:

void imageCallback(const darknet_ros_msgs::ImageWithBoundingBoxes& msg) {
    cv_bridge::CvImagePtr cv_ptr;
    try {
        cv_ptr = cv_bridge::toCvCopy(msg.im, sensor_msgs::image_encodings::BGR8);
        Mat image = cv_ptr->image;
        for(size_t i = 0; i < msg.bounding_boxes.size(); i++)
        {
            darknet_ros_msgs::BoundingBox bBox= msg.bounding_boxes[i];
            double minx = bBox.xmin;
            double miny = bBox.ymin;
            double maxx = bBox.xmax;
            double maxy = bBox.ymax;
            match(image);
        }

        cv::waitKey(30);
    } catch (cv_bridge::Exception& e) {
        ROS_ERROR("Could not convert from '%s' to 'bgr8'.",
        msg.im.encoding.c_str());
    }
}

int main(int argc, char **argv) {
    ros::init(argc, argv, "template_matching_node");
    ros::NodeHandle nh;
    cv::namedWindow("view");
    cv::startWindowThread();
    image_transport::ImageTransport it(nh);
    image_transport::Subscriber sub = it.subscribe("/darknet_ros/ImageWithBoundingBoxes", 1,
            imageCallback);
    ros::spin ...