Fix apriltag detector copy operator

lagadic · Jul 24, 2024 · b91ea97 · b91ea97
1 parent 26e5878
commit b91ea97
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Showing 3 changed files with 30 additions and 3 deletions.
diff --git a/3rdparty/apriltag/apriltag.c b/3rdparty/apriltag/apriltag.c
@@ -1464,6 +1464,32 @@ zarray_t* apriltag_detections_copy(zarray_t* detections)
     return detections_copy;
 }
 
+apriltag_detector_t *apriltag_detector_copy(apriltag_detector_t *td)
+{
+    apriltag_detector_t *td_copy = apriltag_detector_create();
+
+    td_copy->nthreads = td->nthreads;
+    td_copy->quad_decimate = td->quad_decimate;
+    td_copy->quad_sigma = td->quad_sigma;
+
+    td_copy->qtp.max_nmaxima = td->qtp.max_nmaxima ;
+    td_copy->qtp.min_cluster_pixels = td->qtp.min_cluster_pixels;
+
+    td_copy->qtp.max_line_fit_mse = td->qtp.max_line_fit_mse;
+    td_copy->qtp.cos_critical_rad = td->qtp.cos_critical_rad;
+    td_copy->qtp.deglitch = td->qtp.deglitch;
+    td_copy->qtp.min_white_black_diff = td->qtp.min_white_black_diff;
+
+    //td->tag_families = zarray_create(sizeof(apriltag_family_t *));
+    //td->tp = timeprofile_create();
+
+    td_copy->refine_edges = td->refine_edges;
+    td_copy->decode_sharpening = td->decode_sharpening;
+    td_copy->debug = td->debug;
+
+    return td_copy;
+}
+
 image_u8_t *apriltag_to_image(apriltag_family_t *fam, uint32_t idx)
 {
     assert(fam != NULL);

diff --git a/3rdparty/apriltag/apriltag.h b/3rdparty/apriltag/apriltag.h
@@ -272,6 +272,8 @@ void apriltag_detection_copy(apriltag_detection_t* src, apriltag_detection_t* ds
 // copy the array AND the detections within it.
 zarray_t* apriltag_detections_copy(zarray_t* detections);
 
+apriltag_detector_t *apriltag_detector_copy(apriltag_detector_t *td);
+
 // Renders the apriltag.
 // Caller is responsible for calling image_u8_destroy on the image
 image_u8_t *apriltag_to_image(apriltag_family_t *fam, uint32_t idx);

diff --git a/modules/detection/src/tag/vpDetectorAprilTag.cpp b/modules/detection/src/tag/vpDetectorAprilTag.cpp
@@ -29,8 +29,7 @@
  *
  * Description:
  * Base class for AprilTag detection.
- *
-*****************************************************************************/
+ */
 #include <visp3/core/vpConfig.h>
 
 #ifdef VISP_HAVE_APRILTAG
@@ -201,7 +200,7 @@ class vpDetectorAprilTag::Impl
     }
 
     if ((m_tagFamily != TAG_36ARTOOLKIT) && m_tf) {
-      m_td = apriltag_detector_create();
+      m_td = apriltag_detector_copy(o.m_td);
       apriltag_detector_add_family(m_td, m_tf);
     }