Commit 33f27831 authored by mederic_fourmy's avatar mederic_fourmy
Browse files

[skip-ci] Remove implicit equality of landmark node id and tag id

parent af2db0f6
......@@ -32,7 +32,6 @@ LandmarkApriltag::LandmarkApriltag(Eigen::Vector7d& pose, const int& _tagid, con
setDescriptor(Eigen::VectorXd::Constant(1,_tagid)); //change tagid to int ? do not use descriptor vector ?
setId(_tagid); // overwrite lmk ID to match tag_id.
......@@ -57,7 +56,6 @@ int LandmarkApriltag::getTagId() const
LandmarkBasePtr LandmarkApriltag::create(const YAML::Node& _lmk_node)
// Parse YAML node with lmk info and data
unsigned int id = _lmk_node["id"] .as<unsigned int>();
unsigned int tag_id = _lmk_node["tag id"] .as<unsigned int>();
double tag_width = _lmk_node["tag width"] .as<double>();
Eigen::Vector3d pos = _lmk_node["position"] .as<Eigen::Vector3d>();
......@@ -82,7 +80,6 @@ LandmarkBasePtr LandmarkApriltag::create(const YAML::Node& _lmk_node)
// Create a new landmark
LandmarkApriltagPtr lmk_ptr = std::make_shared<LandmarkApriltag>(pose, tag_id, tag_width);
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