resized_subscriber.cpp

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#include <image_transport_tutorial/resized_subscriber.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/imgproc/imgproc.hpp>

void ResizedSubscriber::internalCallback(const image_transport_tutorial::ResizedImage::ConstPtr& msg,
                                         const Callback& user_cb)
{
  // This is only for optimization, not to copy the image
  boost::shared_ptr<void const> tracked_object_tmp;
  cv::Mat img_rsz = cv_bridge::toCvShare(msg->image, tracked_object_tmp)->image;
  // Resize the image to its original size
  cv::Mat img_restored;
  cv::resize(img_rsz, img_restored, cv::Size(msg->original_width, msg->original_height));

  // Call the user callback with the restored image
  cv_bridge::CvImage cv_img(msg->image.header, msg->image.encoding, img_restored);
  user_cb(cv_img.toImageMsg());
};