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Fix downward compatibility issue #299

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

Fix downward compatibility issue #299

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bcc71ed
Fixed downward compatibility issue #298
Myzhar Sep 28, 2018
e276685
Minor change
Myzhar Sep 28, 2018
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18 changes: 9 additions & 9 deletions zed_display_rviz/rviz/zedm.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -219,7 +219,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Expand All @@ -236,7 +236,7 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Value: false
- Alpha: 1
Auto Size:
Auto Size Factor: 1
Expand All @@ -256,7 +256,7 @@ Visualization Manager:
Decay Time: 0
Depth Map Topic: /zed/depth/depth_registered
Depth Map Transport Hint: raw
Enabled: false
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Expand All @@ -274,7 +274,7 @@ Visualization Manager:
Topic Filter: true
Use Fixed Frame: true
Use rainbow: true
Value: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /zed/depth/depth_registered
Expand Down Expand Up @@ -497,18 +497,18 @@ Visualization Manager:
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.156546906
Y: -0.1158977
Z: 0.691972911
X: 0.00557371555
Y: 0.107659221
Z: 0.396509618
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.0653978884
Pitch: 0.0153978756
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 2.65540528
Yaw: 2.37040448
Saved: ~
Window Geometry:
Camera view:
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13 changes: 7 additions & 6 deletions zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp
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Expand Up @@ -784,13 +784,14 @@ namespace zed_wrapper {
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 ? "ENABLED" : "DISABLED"));
#if ((ZED_SDK_MAJOR_VERSION>2) || (ZED_SDK_MAJOR_VERSION==2 && ZED_SDK_MINOR_VERSION>=6))
trackParams.set_floor_as_origin = mFloorAlignment;
NODELET_INFO_STREAM("Floor Alignment : " << (trackParams.set_floor_as_origin ? "ENABLED" : "DISABLED"));
#else
if (mFloorAlignment) {
NODELET_WARN("Floor Alignment is available with ZED SDK >= v2.6");
}
#endif

mZed.enableTracking(trackParams);
mTrackingActivated = true;
Expand Down