add id field to aruco detection

roboticslab-uc3m · Jun 20, 2024 · def9fbc · def9fbc
1 parent e12e4af
commit def9fbc
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/libraries/YarpPlugins/ArucoDetector/ArucoDetector.cpp b/libraries/YarpPlugins/ArucoDetector/ArucoDetector.cpp
@@ -3,6 +3,7 @@
 #include "ArucoDetector.hpp"
 
 #include <vector>
+#include <iostream>
 
 #include <yarp/os/LogComponent.h>
 #include <yarp/os/LogStream.h>
@@ -70,7 +71,8 @@ bool ArucoDetector::detect(const yarp::sig::Image& inYarpImg, yarp::os::Bottle&
             {"brx", yarp::os::Value(br.x)},
             {"bry", yarp::os::Value(br.y)},
             {"blx", yarp::os::Value(bl.x)},
-            {"bly", yarp::os::Value(bl.y)}
+            {"bly", yarp::os::Value(bl.y)},
+            {"text", yarp::os::Value(markerIds[i])}
         };
     }