diff --git a/src/omv/img/apriltag.c b/src/omv/img/apriltag.c index 49bcdfcc8..12409a58e 100644 --- a/src/omv/img/apriltag.c +++ b/src/omv/img/apriltag.c @@ -126,7 +126,7 @@ static inline zarray_t *zarray_create_fail_ok(size_t el_sz) assert(el_sz > 0); zarray_t *za = (zarray_t*) umm_calloc(1, sizeof(zarray_t)); - if(za) za->el_sz = el_sz; + if (za) za->el_sz = el_sz; return za; } @@ -264,11 +264,12 @@ static inline void zarray_add_fail_ok(zarray_t *za, const void *p) assert(za != NULL); assert(p != NULL); - if (za->size + 1 > za->alloc) + if ((za->size + 1) > za->alloc) { + char *old_data = za->data; int old_alloc = za->alloc; - while (za->alloc < za->size + 1) { + while (za->alloc < (za->size + 1)) { za->alloc += 8; // use less memory // *= 2; if (za->alloc < 8) za->alloc = 8; @@ -277,6 +278,7 @@ static inline void zarray_add_fail_ok(zarray_t *za, const void *p) za->data = (char*) umm_realloc(za->data, za->alloc * za->el_sz); if (!za->data) { + za->data = old_data; za->alloc = old_alloc; return; }