From b3949d2120af4af1835972466ca9ed3878e7fccc Mon Sep 17 00:00:00 2001
From: s-trinh <souriya.trinh@inria.fr>
Date: Mon, 8 Apr 2019 17:57:27 +0200
Subject: [PATCH] Delete pose2.t only if a second solution has been computed.
 (#23)

---
 apriltag_pose.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/apriltag_pose.c b/apriltag_pose.c
index 60dbff58..d29734cf 100644
--- a/apriltag_pose.c
+++ b/apriltag_pose.c
@@ -517,8 +517,10 @@ double estimate_tag_pose(apriltag_detection_info_t* info, apriltag_pose_t* pose)
     if (err1 <= err2) {
         pose->R = pose1.R;
         pose->t = pose1.t;
+        if (pose2.R) {
+            matd_destroy(pose2.t);
+        }
         matd_destroy(pose2.R);
-        matd_destroy(pose2.t);
         return err1;
     } else {
         pose->R = pose2.R;