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Fixes #295 and #296 #297

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Merged
adujardin merged 2 commits into from
Sep 28, 2018
Merged

Fixes #295 and #296 #297

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ce81aff
Fixes #295
Myzhar Sep 28, 2018
338aaaf
Fixes to console information messages
Myzhar Sep 28, 2018
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14 changes: 9 additions & 5 deletions zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <stereo_msgs/DisparityImage.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

using namespace std;
Expand Down Expand Up @@ -750,13 +751,13 @@ namespace zed_wrapper {
}

void ZEDWrapperNodelet::start_tracking() {
NODELET_INFO_STREAM("Starting Tracking");
NODELET_INFO_STREAM("*** Starting Positional Tracking ***");
mNhNs.getParam("odometry_DB", mOdometryDb);
mNhNs.getParam("pose_smoothing", mPoseSmoothing);
mNhNs.getParam("spatial_memory", mSpatialMemory);
mNhNs.getParam("floor_alignment", mFloorAlignment);
mNhNs.getParam("init_odom_with_first_valid_pose", mInitOdomWithPose);
NODELET_INFO_STREAM("Init Odometry with first valid pose data : " << mInitOdomWithPose);
NODELET_INFO_STREAM("Init Odometry with first valid pose data : " << (mInitOdomWithPose ? "ENABLED" : "DISABLED"));

if (mInitialTrackPose.size() != 6) {
NODELET_WARN_STREAM("Invalid Initial Pose size (" << mInitialTrackPose.size()
Expand All @@ -778,17 +779,17 @@ namespace zed_wrapper {
sl::TrackingParameters trackParams;
trackParams.area_file_path = mOdometryDb.c_str();
trackParams.enable_pose_smoothing = mPoseSmoothing;
NODELET_INFO_STREAM("Pose Smoothing : " << trackParams.enable_pose_smoothing);
NODELET_INFO_STREAM("Pose Smoothing : " << (trackParams.enable_pose_smoothing ? "ENABLED" : "DISABLED"));
trackParams.enable_spatial_memory = mSpatialMemory;
NODELET_INFO_STREAM("Spatial Memory : " << trackParams.enable_spatial_memory);
NODELET_INFO_STREAM("Spatial Memory : " << (trackParams.enable_spatial_memory ? "ENABLED" : "DISABLED"));
trackParams.initial_world_transform = mInitialPoseSl;

if (mFloorAlignment &&
((ZED_SDK_MAJOR_VERSION < 2) || (ZED_SDK_MAJOR_VERSION == 2 && ZED_SDK_MINOR_VERSION < 6))) {
NODELET_WARN("Floor Alignment is available starting from SDK v2.6");
} else {
trackParams.set_floor_as_origin = mFloorAlignment;
NODELET_INFO_STREAM("Floor Alignment : " << trackParams.set_floor_as_origin);
NODELET_INFO_STREAM("Floor Alignment : " << (trackParams.set_floor_as_origin ? "ENABLED" : "DISABLED"));
}

mZed.enableTracking(trackParams);
Expand Down Expand Up @@ -1801,7 +1802,10 @@ namespace zed_wrapper {
} else {
NODELET_DEBUG_STREAM("ODOM -> Tracking Status: " << sl::toString(status));
}
} else if (mFloorAlignment) {
NODELET_WARN_THROTTLE(5.0, "Odometry will be published as soon as the floor as been detected for the first time");
}

}

// Publish the zed camera pose if someone has subscribed to
Expand Down