fairy's profile - activity

hello! i m working on a ros integrated with opencv using cvbridge library, i have worked with opencv and ros separately then use cvbridge for integration of both of them, actually i m developing a playing activity with turtlebot, my task is to find ball and then hit the ball towards goaling point, for this purpose i have tracked a circle then found its centre co-ordinates, now i want to retrieve a depth of the circle centre by subscribing it to depth topic so basically i need two topics rgb and depth simultanueosly, i have done multiple topic subscription in ros using two call backs in a single class, both callbacks subscribe to different topic but its working till one callback use rospointer msg and other using opencv data type like iplimage, mat

void imageCb(const sensor_msgs::ImageConstPtr& msg)
{
    sensor_msgs::CvBridge bridge;
    IplImage* img = bridge.imgMsgToCv(msg,"bgr8");
}


void imageCb1(const sensor_msgs::ImageConstPtr& msg1)
{
     cv_bridge::CvImagePtr cv_ptr1;
     try
     {
         cv_ptr1 = cv_bridge::toCvCopy(msg1, enc::TYPE_32FC1);
     }
     catch (cv_bridge::Exception& e)
     {
         ROS_ERROR("cv_bridge exception: %s", e.what());
         return;
     }

     if (cv_ptr1->image.rows > 60 && cv_ptr1->image.cols > 60)
         cv::circle(cv_ptr1->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));

     cv::imshow(WINDOW1, cv_ptr1->image);
     cv::waitKey(3);

     image_pub_1.publish(cv_ptr1->toImageMsg());
}

but when i am trying to use opencv purely in both callbacks by using conversion,

void imageCb1(const sensor_msgs::ImageConstPtr& msg1)
{ 
    sensor_msgs::CvBridge bridge1;
    IplImage* img1 = bridge1.img1MsgToCv(msg1,"TYPE_32FC1");    
    Mat mat(img1);
}

void imageCb(const sensor_msgs::ImageConstPtr& msg)
{
    sensor_msgs::CvBridge bridge;
    IplImage* img1 = bridge.img1MsgToCv(msg1,"bgr8");
}

conflict occur that produces segmentation fault

thanks for the answer, but can I retrieve depth of particular point without going in to pcl? by making use of opencv function cvGet2D in order to access the intensity of particular point

the depth values that obtain by kinect driver is actually a no. of streams that continuously changing even if kinect remain stationary can u tell me plz y is it so? secondly if i want to access the depth of particular point out of the depth of all points that is seen by kinect, how can i do it? plz guide me

the depth values that obtain by kinect driver is actually a no. of streams that continuously changing even if kinect remain stationary can u tell me plz y is it so? secondly if i want to access the depth of particular point out of the depth of all points that is seen by kinect, how can i do it? plz guide me

I have 2 callbacks in my program subcribing on depth and rgb image.I have detected circle and calculated its centre point from rgb data now I am trying to access the depth value of that centre point by passing the point to the second callback but when I run the code it generate "segmentation fault". Is there any solution for this??? kindly help