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added static camera position config option #122

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merged 1 commit into from
Nov 30, 2022
Merged

added static camera position config option #122

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1 change: 1 addition & 0 deletions zed_components/src/zed_camera/include/zed_camera_component.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -343,6 +343,7 @@ class ZedCamera : public rclcpp::Node
double mPathPubRate = 2.0;
double mTfOffset = 0.05;
double mPosTrackDepthMinRange = 0.0;
bool mSetAsStatic = false;
bool mSetGravityAsOrigin = false;
int mPathMaxCount = -1;
bool mPublishPoseCov = true;
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5 changes: 5 additions & 0 deletions zed_components/src/zed_camera/src/zed_camera_component.cpp
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Expand Up @@ -1048,6 +1048,10 @@ void ZedCamera::getPosTrackingParams()
getParam(
"pos_tracking.area_memory_db_path", mAreaMemoryDbPath, mAreaMemoryDbPath,
" * Area Memory DB: ");
getParam("pos_tracking.set_as_static", mSetAsStatic, mSetAsStatic);
RCLCPP_INFO_STREAM(
get_logger(),
" * Camera is static: " << (mSetAsStatic ? "TRUE" : "FALSE"));
getParam("pos_tracking.set_gravity_as_origin", mSetGravityAsOrigin, mSetGravityAsOrigin);
RCLCPP_INFO_STREAM(
get_logger(),
Expand Down Expand Up @@ -2771,6 +2775,7 @@ bool ZedCamera::startPosTracking()
trackParams.initial_world_transform = mInitialPoseSl;
trackParams.set_floor_as_origin = mFloorAlignment;
trackParams.depth_min_range = mPosTrackDepthMinRange;
trackParams.set_as_static = mSetAsStatic;
trackParams.set_gravity_as_origin = mSetGravityAsOrigin;

sl::ERROR_CODE err = mZed.enablePositionalTracking(trackParams);
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1 change: 1 addition & 0 deletions zed_wrapper/config/common.yaml
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Expand Up @@ -70,6 +70,7 @@
area_memory_db_path: ""
area_memory: true # Enable to detect loop closure
depth_min_range: 0.0 # Set this value for removing fixed zones of the robot in the FoV of the camerafrom the visual odometry evaluation
set_as_static: false # If 'true' the camera will be static and not move in the environment
set_gravity_as_origin: false # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
floor_alignment: false # Enable to automatically calculate camera/floor offset
initial_base_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Initial position of the `base_frame` -> [X, Y, Z, R, P, Y]
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