共有画像を直接編集していたコードの修正。画像をコピーするように変更

KuraZuzu · KuraZuzu · commit a382c66c8e63 · 2026-07-07T11:45:03.000+09:00
diff --git a/sciurus17_examples/src/aruco_detection.cpp b/sciurus17_examples/src/aruco_detection.cpp
@@ -64,7 +64,7 @@ class ImageSubscriber : public rclcpp::Node
     const sensor_msgs::msg::Image::ConstSharedPtr & img_msg,
     const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg)
   {
-    auto cv_img = cv_bridge::toCvShare(img_msg, img_msg->encoding);
+    auto cv_img = cv_bridge::toCvCopy(img_msg, img_msg->encoding);
     cv::cvtColor(cv_img->image, cv_img->image, cv::COLOR_RGB2BGR);
 
     // マーカID

Original file line number	Diff line number	Diff line change
`@@ -64,7 +64,7 @@ class ImageSubscriber : public rclcpp::Node`
`64`	`64`	`const sensor_msgs::msg::Image::ConstSharedPtr & img_msg,`
`65`	`65`	`const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg)`
`66`	`66`	`{`
`67`		`- auto cv_img = cv_bridge::toCvShare(img_msg, img_msg->encoding);`
	`67`	`+ auto cv_img = cv_bridge::toCvCopy(img_msg, img_msg->encoding);`
`68`	`68`	`cv::cvtColor(cv_img->image, cv_img->image, cv::COLOR_RGB2BGR);`
`69`	`69`
`70`	`70`	`// マーカID`