From 56d73b40979ef2f4b1908846ac649e07e692ad5b Mon Sep 17 00:00:00 2001
From: Gonzalo de Pedro <gonzalo@depedro.com.ar>
Date: Fri, 10 Dec 2021 09:59:28 -0300
Subject: [PATCH] added copy constructor

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
---
 .../cv_mat_sensor_msgs_image_type_adapter.hpp | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/image_tools/include/image_tools/cv_mat_sensor_msgs_image_type_adapter.hpp b/image_tools/include/image_tools/cv_mat_sensor_msgs_image_type_adapter.hpp
index b6b225bb5..ea3a772d2 100644
--- a/image_tools/include/image_tools/cv_mat_sensor_msgs_image_type_adapter.hpp
+++ b/image_tools/include/image_tools/cv_mat_sensor_msgs_image_type_adapter.hpp
@@ -96,6 +96,34 @@ class ROSCvMatContainer
   IMAGE_TOOLS_PUBLIC
   ROSCvMatContainer() = default;
 
+  IMAGE_TOOLS_PUBLIC
+  explicit ROSCvMatContainer(const ROSCvMatContainer &other) :
+    header_(other.header_), frame_(other.frame_), is_bigendian_(other.is_bigendian_)
+    {
+      if(std::holds_alternative<std::shared_ptr<sensor_msgs::msg::Image>>(other.storage_)) {
+        storage_ = std::get<std::shared_ptr<sensor_msgs::msg::Image>>(other.storage_);
+      }
+      else if(std::holds_alternative<std::unique_ptr<sensor_msgs::msg::Image>>(other.storage_)) {
+        storage_ = std::make_unique<sensor_msgs::msg::Image>( *std::get<std::unique_ptr<sensor_msgs::msg::Image>>(other.storage_) );
+      }
+
+    };
+
+ ROSCvMatContainer& operator=(const ROSCvMatContainer& other){
+   if (this != &other) {
+     header_ = other.header_;
+     frame_ = other.frame_;
+     is_bigendian_ = other.is_bigendian_;
+     if(std::holds_alternative<std::shared_ptr<sensor_msgs::msg::Image>>(other.storage_)) {
+       storage_ = std::get<std::shared_ptr<sensor_msgs::msg::Image>>(other.storage_);
+     }
+     else if(std::holds_alternative<std::unique_ptr<sensor_msgs::msg::Image>>(other.storage_)) {
+       storage_ = std::make_unique<sensor_msgs::msg::Image>( *std::get<std::unique_ptr<sensor_msgs::msg::Image>>(other.storage_) );
+     }
+   }
+   return *this;
+ }
+
   /// Store an owning pointer to a sensor_msg::msg::Image, and create a cv::Mat that references it.
   IMAGE_TOOLS_PUBLIC
   explicit ROSCvMatContainer(std::unique_ptr<sensor_msgs::msg::Image> unique_sensor_msgs_image);