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remove code duplicate in ROSCvMatContainer #541

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remove code duplicate in ROSCvMatContainer #541

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78 changes: 41 additions & 37 deletions cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -213,7 +213,7 @@ class ROSCvMatContainer
CV_BRIDGE_PUBLIC
bool
is_bigendian() const;

/// Return the encoding override if provided.
CV_BRIDGE_PUBLIC
std::optional<std::string>
Expand All @@ -229,57 +229,61 @@ class ROSCvMatContainer

} // namespace cv_bridge

template<>
struct rclcpp::TypeAdapter<cv_bridge::ROSCvMatContainer, sensor_msgs::msg::Image>
static void fill_sensor_msgs_image_from_cvmat(
const cv::Mat& cv_mat,
sensor_msgs::msg::Image& image,
const std_msgs::msg::Header& header,
const std::optional<std::string>& encoding_override = std::nullopt)
{
using is_specialized = std::true_type;
using custom_type = cv_bridge::ROSCvMatContainer;
using ros_message_type = sensor_msgs::msg::Image;
image.height = cv_mat.rows;
image.width = cv_mat.cols;

static
void
convert_to_ros_message(
const custom_type & source,
ros_message_type & destination)
{
destination.height = source.cv_mat().rows;
destination.width = source.cv_mat().cols;
const auto& encoding_override = source.encoding_override();
if (encoding_override.has_value() && !encoding_override.value().empty())
{
destination.encoding = encoding_override.value();
}
else
{
switch (source.cv_mat().type()) {
if (encoding_override.has_value() && !encoding_override.value().empty()) {
image.encoding = encoding_override.value();
} else {
switch (cv_mat.type()) {
case CV_8UC1:
destination.encoding = "mono8";
image.encoding = "mono8";
break;
case CV_8UC3:
destination.encoding = "bgr8";
image.encoding = "bgr8";
break;
case CV_16SC1:
destination.encoding = "mono16";
image.encoding = "mono16";
break;
case CV_8UC4:
destination.encoding = "rgba8";
image.encoding = "rgba8";
break;
default:
throw std::runtime_error("unsupported encoding type");
}
}
destination.step = static_cast<sensor_msgs::msg::Image::_step_type>(source.cv_mat().step);
size_t size = source.cv_mat().step * source.cv_mat().rows;
destination.data.resize(size);
memcpy(&destination.data[0], source.cv_mat().data, size);
destination.header = source.header();
}

static
void
convert_to_custom(
const ros_message_type & source,
custom_type & destination)
image.step = static_cast<sensor_msgs::msg::Image::_step_type>(cv_mat.step);
size_t size = cv_mat.step * cv_mat.rows;
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Nit

Suggested change
size_t size = cv_mat.step * cv_mat.rows;
const size_t size = cv_mat.step * cv_mat.rows;

image.data.resize(size);
memcpy(&image.data[0], cv_mat.data, size);
image.header = header;
}

template<>
struct rclcpp::TypeAdapter<cv_bridge::ROSCvMatContainer, sensor_msgs::msg::Image>
{
using is_specialized = std::true_type;
using custom_type = cv_bridge::ROSCvMatContainer;
using ros_message_type = sensor_msgs::msg::Image;

static void convert_to_ros_message(
const custom_type& source,
ros_message_type& destination)
{
fill_sensor_msgs_image_from_cvmat(
source.cv_mat(), destination, source.header(), source.encoding_override());
}

static void convert_to_custom(
const ros_message_type& source,
custom_type& destination)
{
destination = cv_bridge::ROSCvMatContainer(source);
}
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36 changes: 3 additions & 33 deletions cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,40 +173,10 @@ ROSCvMatContainer::get_sensor_msgs_msg_image_pointer_copy() const
return unique_image;
}

void
ROSCvMatContainer::get_sensor_msgs_msg_image_copy(
sensor_msgs::msg::Image & sensor_msgs_image) const
void ROSCvMatContainer::get_sensor_msgs_msg_image_copy(
sensor_msgs::msg::Image& sensor_msgs_image) const
{
sensor_msgs_image.height = frame_.rows;
sensor_msgs_image.width = frame_.cols;
if (encoding_override_.has_value() && !encoding_override_.value().empty())
{
sensor_msgs_image.encoding = encoding_override_.value();
}
else
{
switch (frame_.type()) {
case CV_8UC1:
sensor_msgs_image.encoding = "mono8";
break;
case CV_8UC3:
sensor_msgs_image.encoding = "bgr8";
break;
case CV_16SC1:
sensor_msgs_image.encoding = "mono16";
break;
case CV_8UC4:
sensor_msgs_image.encoding = "rgba8";
break;
default:
throw std::runtime_error("unsupported encoding type");
}
}
sensor_msgs_image.step = static_cast<sensor_msgs::msg::Image::_step_type>(frame_.step);
size_t size = frame_.step * frame_.rows;
sensor_msgs_image.data.resize(size);
memcpy(&sensor_msgs_image.data[0], frame_.data, size);
sensor_msgs_image.header = header_;
fill_sensor_msgs_image_from_cvmat(frame_, sensor_msgs_image, header_, encoding_override_);
}

bool
Expand Down