From dacee727993c044d8d4c2815549a567cfa8b8948 Mon Sep 17 00:00:00 2001 From: Leo Date: Mon, 6 Apr 2026 10:53:03 -0400 Subject: [PATCH] docs: improve apriltag_detector_detect comment --- apriltag.h | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/apriltag.h b/apriltag.h index cef9ab3c..39ef282f 100644 --- a/apriltag.h +++ b/apriltag.h @@ -255,10 +255,17 @@ void apriltag_detector_clear_families(apriltag_detector_t *td); // apriltag_family_t used to initialize it.) void apriltag_detector_destroy(apriltag_detector_t *td); -// Detect tags from an image and return an array of -// apriltag_detection_t*. You can use apriltag_detections_destroy to -// free the array and the detections it contains, or call -// _detection_destroy and zarray_destroy yourself. +// Detect tags in a grayscale 8-bit image. +// +// Parameters: +// td - A configured detector +// im_orig - A grayscale 8-bit image to search. +// +// Returns a zarray_t* containing apriltag_detection_t* pointers, one per +// detected tag. The array may be empty but is never NULL. The caller is +// responsible for freeing the result: use apriltag_detections_destroy() to +// free both the array and all detections, or call apriltag_detection_destroy() +// on each element then zarray_destroy() separately. zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig); // Call this method on each of the tags returned by apriltag_detector_detect