diff --git a/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc b/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
index c589c94..c8eef6a 100644
--- a/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
+++ b/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
@@ -141,10 +141,9 @@ void Node::HandleSubmapList(
     // Properly dealing with a non-common stride would make this code much more
     // complicated. Let's check that it is not needed.
     const int expected_stride = 4 * submap_slice.width;
-    // TODO(jihoonl): Refactor here out to remove kCairoFormat dependency
     CHECK_EQ(expected_stride,
-             cairo_format_stride_for_width(
-                 PaintSubmapSlicesResult::kCairoFormat, submap_slice.width));
+             cairo_format_stride_for_width(::cartographer::io::kCairoFormat,
+                                           submap_slice.width));
     submap_slice.cairo_data.clear();
     for (size_t i = 0; i < fetched_texture->intensity.size(); ++i) {
       // We use the red channel to track intensity information. The green
@@ -159,7 +158,7 @@ void Node::HandleSubmapList(
     submap_slice.surface = ::cartographer::io::MakeUniqueCairoSurfacePtr(
         cairo_image_surface_create_for_data(
             reinterpret_cast<unsigned char*>(submap_slice.cairo_data.data()),
-            PaintSubmapSlicesResult::kCairoFormat, submap_slice.width,
+            ::cartographer::io::kCairoFormat, submap_slice.width,
             submap_slice.height, expected_stride));
     CHECK_EQ(cairo_surface_status(submap_slice.surface.get()),
              CAIRO_STATUS_SUCCESS)
@@ -182,7 +181,7 @@ void Node::DrawAndPublish(const ::ros::WallTimerEvent& unused_timer_event) {
   }
 
   ::cartographer::common::MutexLocker locker(&mutex_);
-  auto painted_slices = PaintSubmapSlices(&submap_slices_, resolution_);
+  auto painted_slices = PaintSubmapSlices(submap_slices_, resolution_);
   PublishOccupancyGrid(last_frame_id_, last_timestamp_, painted_slices.origin,
                        painted_slices.surface.get());
 }