Publish using unique_ptr in stereo_image_proc

ros-perception · Aug 1, 2024 · 2f4693b · 2f4693b
1 parent c03ea44
commit 2f4693b
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
@@ -353,7 +353,7 @@ void DisparityNode::imageCb(
   model_.fromCameraInfo(l_info_msg, r_info_msg);
 
   // Allocate new disparity image message
-  auto disp_msg = std::make_shared<stereo_msgs::msg::DisparityImage>();
+  auto disp_msg = std::make_unique<stereo_msgs::msg::DisparityImage>();
   disp_msg->header = l_info_msg->header;
   disp_msg->image.header = l_info_msg->header;
 
@@ -384,7 +384,7 @@ void DisparityNode::imageCb(
   // Perform block matching to find the disparities
   block_matcher_.processDisparity(l_image, r_image, model_, *disp_msg);
 
-  pub_disparity_->publish(*disp_msg);
+  pub_disparity_->publish(std::move(disp_msg));
 }
 
 rcl_interfaces::msg::SetParametersResult DisparityNode::parameterSetCb(

diff --git a/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp b/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
@@ -235,7 +235,7 @@ void PointCloudNode::imageCb(
   cv::Mat_<cv::Vec3f> mat = points_mat_;
 
   // Fill in new PointCloud2 message (2D image-like layout)
-  auto points_msg = std::make_shared<sensor_msgs::msg::PointCloud2>();
+  auto points_msg = std::make_unique<sensor_msgs::msg::PointCloud2>();
   points_msg->header = disp_msg->header;
   points_msg->height = mat.rows;
   points_msg->width = mat.cols;
@@ -351,7 +351,7 @@ void PointCloudNode::imageCb(
     }
   }
 
-  pub_points2_->publish(*points_msg);
+  pub_points2_->publish(std::move(points_msg));
 }
 
 }  // namespace stereo_image_proc