CvImageConstPtr toCvShare(const sensor_msgs::Image& source,
const boost::shared_ptr<void const>& tracked_object,
const std::string& encoding)
{
// If the encoding different or the endianness different, you have to copy
if ((!encoding.empty() && source.encoding != encoding) || (source.is_bigendian &&
(boost::endian::order::native != boost::endian::order::big)))
return toCvCopy(source, encoding);
CvImagePtr ptr = boost::make_shared<CvImage>();
ptr->header = source.header;
ptr->encoding = source.encoding;
ptr->tracked_object_ = tracked_object;
ptr->image = matFromImage(source);
return ptr;
}
CvImageConstPtr toCvShare(const sensor_msgs::Image& source,
const boost::shared_ptr<void const>& tracked_object,
const std::string& encoding)
{
if (!encoding.empty() && source.encoding != encoding)
return toCvCopy(source, encoding);
CvImagePtr ptr = boost::make_shared<CvImage>();
ptr->header = source.header;
ptr->encoding = source.encoding;
ptr->tracked_object_ = tracked_object;
int type = getCvType(source.encoding);
ptr->image = cv::Mat(source.height, source.width, type,
const_cast<uchar*>(&source.data[0]), source.step);
return ptr;
}
// Deep copy data, returnee is mutable
CvImagePtr toCvCopy(const sensor_msgs::CompressedImageConstPtr& source,
const std::string& encoding)
{
return toCvCopy(*source, encoding);
}
