ROS 2: Merged resize.cpp: fix memory leak (#874)

Related with this PR in ROS 1 #489 Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Jan 19, 2024 · d6381b8 · d6381b8
1 parent 3a7bd4c
commit d6381b8
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Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/image_proc/include/image_proc/resize.hpp b/image_proc/include/image_proc/resize.hpp
@@ -60,6 +60,8 @@ class ResizeNode
   int height_;
   int width_;
 
+  cv_bridge::CvImage scaled_cv_;
+
   std::mutex connect_mutex_;
 
   void connectCb();

diff --git a/image_proc/src/resize.cpp b/image_proc/src/resize.cpp
@@ -90,10 +90,10 @@ void ResizeNode::imageCb(
     static_cast<const void *>(&(*image_msg)),
     static_cast<const void *>(&(*info_msg)));
 
-  cv_bridge::CvImagePtr cv_ptr;
+  cv_bridge::CvImageConstPtr cv_ptr;
 
   try {
-    cv_ptr = cv_bridge::toCvCopy(image_msg);
+    cv_ptr = cv_bridge::toCvShare(image_msg);
   } catch (cv_bridge::Exception & e) {
     TRACEPOINT(
       image_proc_resize_fini,
@@ -106,12 +106,12 @@ void ResizeNode::imageCb(
 
   if (use_scale_) {
     cv::resize(
-      cv_ptr->image, cv_ptr->image, cv::Size(0, 0), scale_width_,
+      cv_ptr->image, scaled_cv_.image, cv::Size(0, 0), scale_width_,
       scale_height_, interpolation_);
   } else {
     int height = height_ == -1 ? image_msg->height : height_;
     int width = width_ == -1 ? image_msg->width : width_;
-    cv::resize(cv_ptr->image, cv_ptr->image, cv::Size(width, height), 0, 0, interpolation_);
+    cv::resize(cv_ptr->image, scaled_cv_.image, cv::Size(width, height), 0, 0, interpolation_);
   }
 
   sensor_msgs::msg::CameraInfo::SharedPtr dst_info_msg =
@@ -148,7 +148,9 @@ void ResizeNode::imageCb(
   dst_info_msg->roi.width = static_cast<int>(dst_info_msg->roi.width * scale_x);
   dst_info_msg->roi.height = static_cast<int>(dst_info_msg->roi.height * scale_y);
 
-  pub_image_.publish(*cv_ptr->toImageMsg(), *dst_info_msg);
+  scaled_cv_.header = image_msg->header;
+  scaled_cv_.encoding = image_msg->encoding;
+  pub_image_.publish(*scaled_cv_.toImageMsg(), *dst_info_msg);
 
   TRACEPOINT(
     image_proc_resize_fini,