From 6c42263d68b9ef7b01ed497421c349ef0f7baffc Mon Sep 17 00:00:00 2001 From: jgdo Date: Thu, 28 Oct 2021 23:56:37 +0200 Subject: [PATCH] Fix Rotation copy constructor this.quaternion_mat must be a view of this.quaternion, otherwise the quaternion fields are uninitialized. individualMarkers node uses the quaternion field to publish marker transformations --- ar_track_alvar/src/Rotation.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ar_track_alvar/src/Rotation.cpp b/ar_track_alvar/src/Rotation.cpp index 3e89b4e..59d311f 100644 --- a/ar_track_alvar/src/Rotation.cpp +++ b/ar_track_alvar/src/Rotation.cpp @@ -39,7 +39,7 @@ Rotation::Rotation() Rotation::Rotation(const Rotation& r) { - quaternion_mat = cv::Mat(4, 1, CV_64F); + quaternion_mat = cv::Mat(4, 1, CV_64F, quaternion); r.quaternion_mat.copyTo(quaternion_mat); }