Add image source to tag detections

carnegierobotics · Jun 24, 2022 · 1ee0621 · 1ee0621
1 parent f40dbbe
commit 1ee0621
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/multisense_lib/sensor_api b/multisense_lib/sensor_api
diff --git a/multisense_ros/msg/AprilTagDetectionArray.msg b/multisense_ros/msg/AprilTagDetectionArray.msg
@@ -1,11 +1,11 @@
 std_msgs/Header header
 
-# The frame ID of the image that the apriltags were detected on
-int64 frameId
-
 # The frame timestamp (nanoseconds) of the image that the apriltags were detected on
 int64 timestamp
 
+# The image source that the apriltags were detected on
+string imageSource
+
 # Success flag to indicate whether for the apriltag algorithm ran successfully
 uint8 success
 

diff --git a/multisense_ros/src/camera.cpp b/multisense_ros/src/camera.cpp
@@ -2124,7 +2124,7 @@ void Camera::apriltagCallback(const apriltag::Header& header)
     tag_detection_array.header.seq = static_cast<uint32_t>(header.frameId);
     tag_detection_array.header.stamp = ros_time;
     tag_detection_array.header.frame_id = frame_id_rectified_left_;
-    tag_detection_array.frameId = header.frameId;
+    tag_detection_array.imageSource = header.imageSource;
     tag_detection_array.timestamp = header.timestamp;
     tag_detection_array.success = header.success;
     tag_detection_array.numDetections = header.numDetections;
+3 −4		source/LibMultiSense/details/dispatch.cc
+22 −0		source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh
+7 −3		source/LibMultiSense/include/MultiSense/details/wire/ApriltagDetections.hh