From 754090eefe809f984210a25c892d0f55a730b5da Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@openrobotics.org>
Date: Mon, 20 Dec 2021 15:21:18 -0500
Subject: [PATCH] Make sure to actually copy the frame during the copy
 constructor. (#2)

Otherwise we get bogus data in the destination sometimes.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
---
 .../cv_mat_sensor_msgs_image_type_adapter.hpp | 49 ++++++++++---------
 1 file changed, 25 insertions(+), 24 deletions(-)

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 ea3a772d2..04875b110 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
@@ -97,32 +97,33 @@ class ROSCvMatContainer
   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_)) {
+  explicit ROSCvMatContainer(const ROSCvMatContainer & other)
+  : header_(other.header_), frame_(other.frame_.clone()), 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_));
+    }
+  }
+
+  IMAGE_TOOLS_PUBLIC
+  ROSCvMatContainer & operator=(const ROSCvMatContainer & other)
+  {
+    if (this != &other) {
+      header_ = other.header_;
+      frame_ = other.frame_.clone();
+      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_));
       }
-      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;
- }
+    }
+    return *this;
+  }
 
   /// Store an owning pointer to a sensor_msg::msg::Image, and create a cv::Mat that references it.
   IMAGE_TOOLS_PUBLIC