From f77224f1e69bd9e2e99338529b1957a5ab773b39 Mon Sep 17 00:00:00 2001
From: Jean-Marie HENAFF <Jean-Marie.HENAFF@b-com.com>
Date: Thu, 11 Mar 2021 17:43:26 +0100
Subject: [PATCH] fix: change the way rotMat is computed in
 SolAROpenCV::projectCV

Behavior seemed different between platforms.
Fixes SLAM on Android (at least).
---
 src/SolARProjectOpencv.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/SolARProjectOpencv.cpp b/src/SolARProjectOpencv.cpp
index d176945a..ce51406a 100644
--- a/src/SolARProjectOpencv.cpp
+++ b/src/SolARProjectOpencv.cpp
@@ -49,7 +49,10 @@ FrameworkReturnCode projectCV(const std::vector<cv::Point3f> & inputPoints, std:
     Transform3Df poseInv = pose.inverse();
 
     cv::Mat rotMat, rvec;
-    rotMat = cv::Mat(3, 3, SolAROpenCVHelper::inferOpenCVType<float>(), (void *)poseInv.rotation().data());
+    rotMat = (cv::Mat_<float>(3, 3) << poseInv(0, 0), poseInv(0, 1), poseInv(0, 2),
+                                     poseInv(1, 0), poseInv(1, 1), poseInv(1, 2),
+                                     poseInv(2, 0), poseInv(2, 1), poseInv(2, 2));
+
     cv::Mat tvec(3, 1, SolAROpenCVHelper::inferOpenCVType<float>());
     tvec.at<float>(0, 0) = poseInv(0, 3);
     tvec.at<float>(1, 0) = poseInv(1, 3);