From def9fbcb410d472e04219318bb38b124f5334aa7 Mon Sep 17 00:00:00 2001
From: anacg1620 <anacg1620@gmail.com>
Date: Thu, 20 Jun 2024 13:51:00 +0200
Subject: [PATCH] add id field to aruco detection

---
 libraries/YarpPlugins/ArucoDetector/ArucoDetector.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/YarpPlugins/ArucoDetector/ArucoDetector.cpp b/libraries/YarpPlugins/ArucoDetector/ArucoDetector.cpp
index 9c3e530d..ab944477 100644
--- 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])}
         };
     }