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I'm not sure that I entirely understand the question. If you want to convert a sensor_msgs::Image
to a sensor_msgs::Ptr
or sensor_msgs:ConsPtr
, you only need to wrap it in a boost::shared_ptr
:
sensor_msgs::Image::Ptr rosimg = boost::shared_ptr<sensor_msgs::Image>(image_msg);
Note that this is safe only if rosimg
is heap-allocated. For example, you could initialize rosimg
as:
sensor_msgs::Image::Ptr rosimg = boost::make_shared<sensor_msgs::Image>();