From 4f4f72837d0dc38f92962c370d8348d098c5e1c9 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 24 Nov 2021 09:07:07 -0500
Subject: [PATCH] GUI: fixed stereo odom images flickering, bug introduced by
 this commit
 https://github.com/introlab/rtabmap_ros/commit/23c06875b9369988a2815edb915cd1eade85031a.
 See also
 http://official-rtab-map-forum.206.s1.nabble.com/Stereo-odometry-switching-between-left-and-right-image-td8719.html

---
 README.md             | 2 +-
 src/MsgConversion.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index da258556..a2048627 100644
--- a/README.md
+++ b/README.md
@@ -82,7 +82,7 @@ This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Ki
     $ git clone https://github.com/introlab/rtabmap.git rtabmap
     $ cd rtabmap/build
     $ cmake ..  [<---double dots included]
-    $ make
+    $ make -j6
     $ sudo make install
     ```
 
diff --git a/src/MsgConversion.cpp b/src/MsgConversion.cpp
index 6c95bd61..dc80a79a 100644
--- a/src/MsgConversion.cpp
+++ b/src/MsgConversion.cpp
@@ -1991,7 +1991,7 @@ bool convertStereoMsg(
 	if(leftImageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) == 0 ||
 	   leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0)
 	{
-		left = leftImageMsg->image;
+		left = leftImageMsg->image.clone();
 	}
 	else if(leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
 	{
@@ -2004,7 +2004,7 @@ bool convertStereoMsg(
 	if(rightImageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) == 0 ||
 	   rightImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0)
 	{
-		right = rightImageMsg->image;
+		right = rightImageMsg->image.clone();
 	}
 	else
 	{