CvImagePtr toCvCopy(const sensor_msgs::Image& source, const std::string& encoding) { // Construct matrix pointing to source data int source_type = getCvType(source.encoding); const cv::Mat tmp((int)source.height, (int)source.width, source_type, const_cast<uint8_t*>(&source.data[0]), (size_t)source.step); return toCvCopyImpl(tmp, source.header, source.encoding, encoding); }
CvImagePtr toCvCopy(const sensor_msgs::CompressedImage& source, const std::string& encoding) { // Construct matrix pointing to source data return toCvCopyImpl(matFromImage(source), source.header, enc::BGR8, encoding); }
CvImagePtr cvtColor(const CvImageConstPtr& source, const std::string& encoding) { return toCvCopyImpl(source->image, source->header, source->encoding, encoding); }