From fba921c03ae1e79170a1f26cbeb4360d6aa08499 Mon Sep 17 00:00:00 2001
From: Feej <33738007+yc-feej@users.noreply.github.com>
Date: Fri, 17 Mar 2023 19:07:09 +0800
Subject: [PATCH] Bugfix: Pixel data not set correctly will crash when saving
 pixels to disk (#6235)

---
 CHANGELOG.md                                                     | 1 +
 .../CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 98ac4876f..3cf903017 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@
     * `start_replaying.py` using flag `--move-spectator`
   * Added maps, vehicles, pedestrians and props catalogues to the documentation
   * Add keyword arguments for `carla.TrafficManager` Python API functions
+  * Fixed bug causing the `FPixelReader::SavePixelsToDisk(PixelData, FilePath)` function to crash due to pixel array not set correctly.
 
 ## CARLA 0.9.14
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp
index 7da6424b4..c1552ef34 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp
@@ -104,6 +104,7 @@ TUniquePtr<TImagePixelData<FColor>> FPixelReader::DumpPixels(
   {
     return nullptr;
   }
+  PixelData->Pixels = Pixels;
   return PixelData;
 }