added getNumTagsDetected()

.github/workflows/ci.yaml

@@ -16,4 +16,4 @@ jobs:
     uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_recent_ci.yml@master
     with:
       repo: ${{ github.event.repository.name }}
-      vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/master/${{ github.event.repository.name }}.repos
+      vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/${{ github.head_ref || github.ref_name }}/${{ github.event.repository.name }}.repos

apriltag_detector/include/apriltag_detector/detector_component.hpp

@@ -41,6 +41,8 @@ class DetectorComponent : public rclcpp::Node
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
   ~DetectorComponent();
   auto getNumMessages() const { return (num_messages_); }
+  auto getNumTagsDetected() const { return (num_tags_detected_); }
+  void resetNumTagsDetected() { num_tags_detected_ = 0; }
 
 private:
   void subscribe();
@@ -55,6 +57,7 @@ class DetectorComponent : public rclcpp::Node
   std::string image_qos_profile_{"default"};
   std::string in_transport_{"raw"};
   std::size_t num_messages_{0};
+  std::size_t num_tags_detected_{0};
   pluginlib::ClassLoader<apriltag_detector::Detector> detector_loader_;
   std::shared_ptr<apriltag_detector::Detector> detector_;
 };

apriltag_detector/src/detector_component.cpp

@@ -160,6 +160,7 @@ void DetectorComponent::callback(
       std::make_unique<apriltag_msgs::msg::AprilTagDetectionArray>();
     detector_->detect(cvImg->image, array_msg.get());
     array_msg->header = msg->header;
+    num_tags_detected_ += array_msg->detections.size();
     detect_pub_->publish(std::move(array_msg));
   }
 }

apriltag_tools/src/detect_from_bag.cpp

@@ -61,6 +61,7 @@ int main(int argc, char ** argv)
     rclcpp::shutdown();
     throw std::runtime_error("must specify image_topic parameter!");
   }
+  dummy_node.reset(); // delete dummy node object
 
   rclcpp::executors::SingleThreadedExecutor exec;
 
@@ -151,7 +152,9 @@ int main(int argc, char ** argv)
   exec.spin_some();  // for recording the last message
 
   RCLCPP_INFO_STREAM(
-    get_logger(), "num messages detected: " << detector_node->getNumMessages());
+    get_logger(), "num messages found: " << detector_node->getNumMessages());
+  RCLCPP_INFO_STREAM(
+    get_logger(), "num tags detected: " << detector_node->getNumTagsDetected());
   RCLCPP_INFO(get_logger(), "detect_from_bag finished!");
   rclcpp::shutdown();
   return 0;