From f8c5637781ce16a20e314ae7b2288748106781c1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Tue, 3 May 2022 13:06:48 +0200 Subject: [PATCH] wip --- .../processor_tracker_landmark_apriltag.h | 6 ++++-- .../processor_tracker_landmark_apriltag.cpp | 20 +++++++++++++++++-- 2 files changed, 22 insertions(+), 4 deletions(-) diff --git a/include/apriltag/processor/processor_tracker_landmark_apriltag.h b/include/apriltag/processor/processor_tracker_landmark_apriltag.h index 703f0925..7f9b00e0 100644 --- a/include/apriltag/processor/processor_tracker_landmark_apriltag.h +++ b/include/apriltag/processor/processor_tracker_landmark_apriltag.h @@ -182,8 +182,10 @@ class ProcessorTrackerLandmarkApriltag : public ProcessorTrackerLandmark public: double getTagWidth(int _id) const; std::string getTagFamily() const; - FeatureBasePtrList getIncomingDetections() const; - FeatureBasePtrList getLastDetections() const; + FeatureBaseConstPtrList getIncomingDetections() const; + FeatureBasePtrList getIncomingDetections(); + FeatureBaseConstPtrList getLastDetections() const; + FeatureBasePtrList getLastDetections(); void ippePoseEstimation(apriltag_detection_t *_det, cv::Mat_ _K, double _tag_width, diff --git a/src/processor/processor_tracker_landmark_apriltag.cpp b/src/processor/processor_tracker_landmark_apriltag.cpp index 275af002..86d97395 100644 --- a/src/processor/processor_tracker_landmark_apriltag.cpp +++ b/src/processor/processor_tracker_landmark_apriltag.cpp @@ -485,12 +485,28 @@ void ProcessorTrackerLandmarkApriltag::pinholeHomogeneous(Eigen::Matrix3d const J_h_R = -K * R * p_hat; } -FeatureBasePtrList ProcessorTrackerLandmarkApriltag::getIncomingDetections() const +FeatureBaseConstPtrList ProcessorTrackerLandmarkApriltag::getIncomingDetections() const +{ + FeatureBaseConstPtrList list_const; + for (auto && obj : detections_incoming_) + list_const.push_back(obj); + return list_const; +} + +FeatureBasePtrList ProcessorTrackerLandmarkApriltag::getIncomingDetections() { return detections_incoming_; } -FeatureBasePtrList ProcessorTrackerLandmarkApriltag::getLastDetections() const +FeatureBaseConstPtrList ProcessorTrackerLandmarkApriltag::getLastDetections() const +{ + FeatureBaseConstPtrList list_const; + for (auto && obj : detections_last_) + list_const.push_back(obj); + return list_const; +} + +FeatureBasePtrList ProcessorTrackerLandmarkApriltag::getLastDetections() { return detections_last_; } -- GitLab