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Add names to tag detections #150

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Add names to tag detections #150

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df93a29
add names to the detection message, this is helpful for hashing tag b…
jack-slip Apr 24, 2023
4a60a93
tag bundle support
jack-slip Apr 24, 2023
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3 changes: 3 additions & 0 deletions apriltag_ros/msg/AprilTagDetection.msg
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Original file line number Diff line number Diff line change
@@ -1,3 +1,6 @@
# Tag/Tag Bundle name. Default names are tag_ID, where ID is the tag ID and bundle_I
# where I is the bundle index.
string name
# Tag ID(s). If a standalone tag, this is a vector of size 1. If a tag bundle,
# this is a vector containing the IDs of each tag in the bundle.
int32[] id
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2 changes: 2 additions & 0 deletions apriltag_ros/src/common_functions.cpp
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Expand Up @@ -349,6 +349,7 @@ AprilTagDetectionArray TagDetector::detectTags (

// Add the detection to the back of the tag detection array
AprilTagDetection tag_detection;
tag_detection.name = standaloneDescription->frame_name();
tag_detection.pose = tag_pose;
tag_detection.id.push_back(detection->id);
tag_detection.size.push_back(tag_size);
Expand Down Expand Up @@ -382,6 +383,7 @@ AprilTagDetectionArray TagDetector::detectTags (

// Add the detection to the back of the tag detection array
AprilTagDetection tag_detection;
tag_detection.name = bundleName;
tag_detection.pose = bundle_pose;
tag_detection.id = bundle.bundleIds();
tag_detection.size = bundle.bundleSizes();
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