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Fix out of bounds indexes when retrieving camera matrix for rectified images (backport #47) #49

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merged 1 commit into from
Jun 4, 2024
Merged

Fix out of bounds indexes when retrieving camera matrix for rectified images (backport #47) #49

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1 change: 1 addition & 0 deletions aruco_opencv/config/aruco_tracker.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

marker_dict: 4X4_50

image_is_rectified: false
image_sub_compressed: false
image_sub_qos:
reliability: 2 # 0 - system default, 1 - reliable, 2 - best effort
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4 changes: 2 additions & 2 deletions aruco_opencv/src/aruco_tracker.cpp
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Expand Up @@ -438,8 +438,8 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
std::lock_guard<std::mutex> guard(cam_info_mutex_);

if (image_is_rectified_) {
for (int i = 0; i < 12; ++i) {
camera_matrix_.at<double>(i / 4, i % 4) = cam_info->p[i];
for (int i = 0; i < 9; ++i) {
camera_matrix_.at<double>(i / 3, i % 3) = cam_info->p[i + i / 3];
}
} else {
for (int i = 0; i < 9; ++i) {
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