Simplify ros-cv-bridge

raultapia · Jul 8, 2024 · e165b20 · e165b20
1 parent 7e5c2b0
commit e165b20
Showing 1 changed file with 6 additions and 12 deletions.
diff --git a/include/rush/ros-cv-bridge.hpp b/include/rush/ros-cv-bridge.hpp
@@ -61,10 +61,8 @@ inline void cv2ros(const cv::Mat &cv, sensor_msgs::Image &ros, const std_msgs::H
  * @param header The header for the ROS Image message.
  * @return The output ROS Image message.
  */
-inline sensor_msgs::Image cv2ros(const cv::Mat &cv, const std_msgs::Header &header = std_msgs::Header()) {
-  sensor_msgs::Image ros;
-  cv_bridge::CvImage(header, Encoding::get(cv), cv).toImageMsg(ros);
-  return ros;
+inline sensor_msgs::ImagePtr cv2ros(const cv::Mat &cv, const std_msgs::Header &header = std_msgs::Header()) {
+  return cv_bridge::CvImage(header, Encoding::get(cv), cv).toImageMsg();
 }
 
 /**
@@ -73,18 +71,16 @@ inline sensor_msgs::Image cv2ros(const cv::Mat &cv, const std_msgs::Header &head
  * @param cv The output OpenCV Mat.
  */
 inline void ros2cv(const sensor_msgs::Image &ros, cv::Mat &cv) {
-  const cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(ros, ros.encoding);
-  (cv_ptr->image).copyTo(cv);
+  (cv_bridge::toCvCopy(ros, ros.encoding)->image).copyTo(cv);
 }
 
 /**
  * @brief Converts a ROS Image message to an OpenCV Mat.
  * @param ros The input ROS Image message.
  * @return The output OpenCV Mat.
  */
-inline cv::Mat ros2cv(const sensor_msgs::Image &ros) {
-  const cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(ros, ros.encoding);
-  return (cv_ptr->image);
+inline cv::Mat &ros2cv(const sensor_msgs::Image &ros) {
+  return cv_bridge::toCvCopy(ros, ros.encoding)->image;
 }
 
 /**
@@ -124,9 +120,7 @@ class Publisher : public ros::Publisher {
     std_msgs::Header header;
     header.stamp = time;
     header.frame_id = frame_id;
-    sensor_msgs::Image msg;
-    cv2ros(img, msg, header);
-    ros::Publisher::publish(msg);
+    ros::Publisher::publish(cv2ros(img, header));
   }
 };