I'm trying to publish the image of a [picozense camera](https://www.pico-interactive.com/zense) in a ROS node in **ROS kinetic, Ubuntu 16.04**.
I build a catkin package and included the camera's API (.h and .so files) which is OpenCV3 compatible. This works fine, i can call the API functions in the c++ source code. However, OpenCV crashes at runtime with an error that after some research most posts argue is a conflict between OpenCV2 and OpenCV3. But my installed **OpenCV version is 3.3.1** and i don't have any OpenCV 2.x installed. (Also i'm using cv_bridge which [depends on OpenCV3](https://github.com/ros-perception/vision_opencv/blob/kinetic/cv_bridge/CMakeLists.txt) components)
The only OpenCV package i added to my dependencies and in my code is the *highgui* package. If i leave it out, the node does not crash at all. But even with the highgui package the node runs successfully sometimes.
How can i fix the error?
**OpenCV Runtime Error**
rosusr@ubuntu:~/catkin_ws$ rosrun picozense publisher
1
OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/persistence.cpp, line 861
terminate called after throwing an instance of 'cv::Exception'
what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/persistence.cpp:861: error: (-5) Invalid pointer to file storage in function cvGetFileNodeByName
Aborted (core dumped)
**Running the node works sometimes** (the initialization just fails because the camera is not connected)
rosusr@ubuntu:~/catkin_ws$ rosrun picozense publisher
1
2
PsInitialize status: -1
Initialize failed!
Shutdown status: 0
**publisher.cpp**
#include
#include
#include
#include "PicoZense_api.h"
int main(int argc, char** argv){
ros::init(argc, argv, "publisher");
ros::NodeHandle nh;
PsReturnStatus status;
std::cout << "1" << std::endl;
status = PsInitialize();
std::cout << "2" << std::endl;
std::cout << "PsInitialize status: " << status << std::endl;
if (status != PsReturnStatus::PsRetOK){
std::cout << "Initialize failed!" << std::endl;
status = PsShutdown();
std::cout << "Shutdown status: " << status << std::endl;
return -1;
}
// ...
// using opencv highgui etc. here
//
return 0;
}
**CMakeLists.txt**
cmake_minimum_required(VERSION 2.8.3)
project(picozense)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
image_transport
sensor_msgs
message_generation
)
find_package(OpenCV 3 REQUIRED COMPONENTS highgui)
generate_messages( DEPENDENCIES
sensor_msgs
)
catkin_package( CATKIN_DEPENDS
cv_bridge
image_transport
sensor_msgs
message_runtime
)
include_directories( include
${catkin_INCLUDE_DIRS} #picoZense API header file is here (/picozense/include/)
${OpenCV_INCLUDE_DIRS}
)
message(STATUS "catkin_include_dirs: " ${catkin_INCLUDE_DIRS})
message(STATUS "opencv_include_dirs: " ${OpenCV_INCLUDE_DIRS})
add_executable(publisher src/publisher.cpp)
add_dependencies(publisher ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PROJECT_SOURCE_DIR}/lib/x64/libpicozense_api.so)
message(STATUS "opencv_libraries: " ${OpenCV_LIBRARIES})
**package.xml**
picozense 0.0.0 The picozense package rosusr TODO catkin cv_bridge image_transport sensor_msgs message_generation cv_bridge image_transport sensor_msgs message_generation cv_bridge image_transport sensor_msgs message_runtime
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