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AprilRobotics / apriltag_ros

A ROS wrapper of the AprilTag 3 visual fiducial detector
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fixed bug into function TagDetector::idComparison. #137

Closed DoppiaEffe94 closed 2 years ago

DoppiaEffe94 commented 2 years ago

Previously it was assigning to id1 and id2 the addresses of the variable the two pointers were pointing to. Now, the real tag ID of the readings are correctly assigned to the two variables id1 and id2.

DoppiaEffe94 commented 2 years ago

Sure! I needed to get the pose of duplicates, and therefore to set remove_duplicates: False. However, both of the tags had to be detected at the same time. The only solution was to call them differently. Therefore, I tweaked a bit the TagDetector::idComparison function for my application. I used specific names for duplicate tags, but they had to be sorted by id. There I found the bug.