From 7e2c16d9c55d180549a6fa0b7a1bd7a5da1d54cb Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 10 Dec 2018 13:17:37 -0500
Subject: [PATCH] Added support for apriltags tag_bundles

---
 src/CoreWrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index d1027a7b..dd64ac8a 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -2175,7 +2175,7 @@ void CoreWrapper::tagDetectionsAsyncCallback(const apriltags2_ros::AprilTagDetec
 	{
 		for(unsigned int i=0; i<tagDetections.detections.size(); ++i)
 		{
-			if(tagDetections.detections[i].id.size() == 1)
+			if(tagDetections.detections[i].id.size() >= 1)
 			{
 				uInsert(tags_, std::make_pair(tagDetections.detections[i].id[0], tagDetections.detections[i].pose));
 			}