Add ImageConstPtr to ros-cv-bridge

raultapia · Jul 4, 2024 · c60d252 · c60d252
1 parent ef0229a
commit c60d252
Showing 1 changed file with 20 additions and 0 deletions.
diff --git a/include/rush/ros-cv-bridge.hpp b/include/rush/ros-cv-bridge.hpp
@@ -87,6 +87,26 @@ inline cv::Mat ros2cv(const sensor_msgs::Image &ros) {
   return (cv_ptr->image);
 }
 
+/**
+ * @brief Converts a ROS Image message to an OpenCV Mat.
+ * @param ros The input ROS Image message.
+ * @param cv The output OpenCV Mat.
+ * @note This function is provided for convenience when working with ImageConstPtr.
+ */
+inline void ros2cv(const sensor_msgs::ImageConstPtr &ros, cv::Mat &cv) {
+  ros2cv(*ros);
+}
+
+/**
+ * @brief Converts a ROS Image message to an OpenCV Mat.
+ * @param ros The input ROS Image message.
+ * @return The output OpenCV Mat.
+ * @note This function is provided for convenience when working with ImageConstPtr.
+ */
+inline cv::Mat ros2cv(const sensor_msgs::ImageConstPtr &ros) {
+  return ros2cv(*ros);
+}
+
 /**
  * @brief This class extends ros::Publisher to directly publish OpenCV matrices.
  */