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Adds copy constructor and assignment operator to ROSCvMatContainer #546

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merged 3 commits into from
Dec 22, 2021
Merged

Adds copy constructor and assignment operator to ROSCvMatContainer #546

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56d73b4
added copy constructor
Dec 10, 2021
754090e
Make sure to actually copy the frame during the copy constructor. (#2)
clalancette Dec 20, 2021
85ac31c
Take care of the nullptr case on copy (#3)
Dec 20, 2021
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31 changes: 31 additions & 0 deletions image_tools/include/image_tools/cv_mat_sensor_msgs_image_type_adapter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,37 @@ class ROSCvMatContainer
IMAGE_TOOLS_PUBLIC
ROSCvMatContainer() = default;

IMAGE_TOOLS_PUBLIC
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::nullptr_t>(other.storage_)) {
storage_ = nullptr;
}
}
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);
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