Add return-by-value versions of cv2ros and ros2cv

include/rush/ros-cv-bridge.hpp

@@ -55,6 +55,18 @@ inline void cv2ros(const cv::Mat &cv, sensor_msgs::Image &ros, const std_msgs::H
   cv_bridge::CvImage(header, Encoding::get(cv), cv).toImageMsg(ros);
 }
 
+/**
+ * @brief Converts an OpenCV Mat to a ROS Image message.
+ * @param cv The input OpenCV Mat.
+ * @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;
+}
+
 /**
  * @brief Converts a ROS Image message to an OpenCV Mat.
  * @param ros The input ROS Image message.
@@ -65,6 +77,16 @@ inline void ros2cv(const sensor_msgs::Image &ros, cv::Mat &cv) {
   (cv_ptr->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);
+}
+
 /**
  * @brief This class extends ros::Publisher to directly publish OpenCV matrices.
  */