toCvCopy与toCvShare的区别

• 返回数据的指针指向不同
• 返回指针类型不同

toCvCopy复制数据并返回复制数据地址指针cv_bridge::CvImagePtr

/**
 * \brief Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the
 * image data.
 *
 * \param source   A shared_ptr to a sensor_msgs::Image message
 * \param encoding The desired encoding of the image data, one of the following strings:
 *    - \c "mono8"
 *    - \c "bgr8"
 *    - \c "bgra8"
 *    - \c "rgb8"
 *    - \c "rgba8"
 *    - \c "mono16"
 *
 * If \a encoding is the empty string (the default), the returned CvImage has the same encoding
 * as \a source.
 */
CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr& source,
                    const std::string& encoding = std::string());

CvImagePtr toCvCopy(const sensor_msgs::CompressedImageConstPtr& source,
                    const std::string& encoding = std::string());

toCvShare获取数据并返回源数据地址指针cv_bridge::CvImageConstPtr

/**
 * \brief Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing
 * the image data if possible.
 *
 * If the source encoding and desired encoding are the same, the returned CvImage will share
 * the image data with \a source without copying it. The returned CvImage cannot be modified, as that
 * could modify the \a source data.
 *
 * \param source   A shared_ptr to a sensor_msgs::Image message
 * \param encoding The desired encoding of the image data, one of the following strings:
 *    - \c "mono8"
 *    - \c "bgr8"
 *    - \c "bgra8"
 *    - \c "rgb8"
 *    - \c "rgba8"
 *    - \c "mono16"
 *
 * If \a encoding is the empty string (the default), the returned CvImage has the same encoding
 * as \a source.
 */
CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr& source,
                          const std::string& encoding = std::string());