If you publish a shared_ptr<sensor_msgs::Image> using raw transport,
image_transport takes advantage of roscpp's optimized intraprocess message
passing. So you can use image_transport to pass images in nodelets.

Generalizing image_transport to handle other representations - including
something like shared_ptr<cv::Mat> - is on my wishlist, but too invasive to
make it into Diamondback at this point.

Cheers,
Patrick

On Mon, Dec 6, 2010 at 4:45 PM, Nicholas Butko <nbutko@ucsd.edu> wrote:

> In the nodelet documentation, it says that shared_ptr should be used for
> passing data, for efficiency reasons.
>
> Is this done by default in image_trasnport? If not, what is the preferred
> way to publish something like shared_ptr<cv::Mat>?
>
> --Nick
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