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fix: prevent multi-tag apriltag scan crash

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lxowalle
2026-08-27 17:44:39 +08:00
parent 5e8ab67ea0
commit 7d74543ada
1 changed files with 9 additions and 2 deletions
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11
components/3rd_party/omv/omv/imlib/apriltag.c vendored
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@@ -11979,7 +11979,12 @@ zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig)
det->p[i][1] = p[1];
}
zarray_add(detections, &det);
// Detections from different quads are decoded in
// parallel, but zarray_add() mutates shared storage.
#pragma omp critical(apriltag_detections_append)
{
zarray_add(detections, &det);
}
}
quad_destroy(quad);
@@ -11993,7 +11998,9 @@ zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig)
if (1) {
zarray_t *poly0 = g2d_polygon_create_zeros(4);
zarray_t *poly1 = g2d_polygon_create_zeros(4);
#pragma omp parallel for
// Reconciliation mutates `detections` (including removing entries)
// and reuses the polygon scratch arrays, so it is intentionally
// serial as well.
for (int i0 = 0; i0 < zarray_size(detections); i0++) {
apriltag_detection_t *det0;