diff --git a/src/omv/imlib/apriltag.c b/src/omv/imlib/apriltag.c index 72667eae4..445caec6c 100644 --- a/src/omv/imlib/apriltag.c +++ b/src/omv/imlib/apriltag.c @@ -9628,8 +9628,12 @@ int quad_segment_maxima(apriltag_detector_t *td, zarray_t *cluster, struct line_ } // if we didn't get at least 4 maxima, we can't fit a quad. - if (nmaxima < 4) - return 0; + if (nmaxima < 4){ + fb_free(); // maxima_errs + fb_free(); // maxima + fb_free(); // errs + return 0; + } // select only the best maxima if we have too many int max_nmaxima = td->qtp.max_nmaxima;