Merge pull request #234 from MissouriMRDT/hotix/zed-bind-error

Fix Missing Bind Directory on Container Start

src/AutonomyConstants.h

@@ -116,7 +116,7 @@ namespace constants
     // ZedCam Spatial Mapping Config.
     const sl::SpatialMappingParameters::SPATIAL_MAP_TYPE ZED_MAPPING_TYPE = sl::SpatialMappingParameters::SPATIAL_MAP_TYPE::MESH;    // Mesh or point cloud output.
     const float ZED_MAPPING_RANGE_METER                                   = 20.0;    // The max range in meters that the ZED cameras should use for mapping. 0 = auto.
-    const float ZED_MAPPING_RESOLUTION_METER                              = 0.01;    // The approx goal precision for spatial mapping in METERS. Higher = Faster.
+    const float ZED_MAPPING_RESOLUTION_METER                              = 0.1;     // The approx goal precision for spatial mapping in METERS. Higher = Faster.
     const int ZED_MAPPING_MAX_MEMORY                                      = 4096;    // The max amount of CPU RAM (MB) that can be allocated for spatial mapping.
     const bool ZED_MAPPING_USE_CHUNK_ONLY   = true;    // Only update chunks that have probably changed or have new data. Faster, less accurate.
     const int ZED_MAPPING_STABILITY_COUNTER = 4;       // Number of times that a point should be seen before adding to mesh.

src/main.cpp

@@ -164,6 +164,7 @@ int main()
 
         // Camera and TagDetector config.
         pMainCam->EnablePositionalTracking();    // Enable positional tracking for main ZED cam.
+        pMainCam->EnableSpatialMapping();
 
         /*
             This while loop is the main periodic loop for the Autonomy_Software program.
@@ -213,6 +214,18 @@ int main()
         /////////////////////////////////////////
         // Cleanup.
         /////////////////////////////////////////
+
+        // Check if ZED spatial map was enabled.
+        if (pMainCam->GetSpatialMappingState() == sl::SPATIAL_MAPPING_STATE::OK)
+        {
+            // Extract and save spatial map.
+            std::future<sl::Mesh> fuSpatialMap;
+            pMainCam->ExtractSpatialMapAsync(fuSpatialMap);
+            sl::Mesh slSpatialMap  = fuSpatialMap.get();
+            std::string szFilePath = "./logs/" + logging::g_szProgramStartTimeString + "/spatial_map";
+            slSpatialMap.save(szFilePath.c_str(), sl::MESH_FILE_FORMAT::PLY);
+        }
+
         // Stop RoveComm quill logging or quill will segfault if trying to output logs to RoveComm.
         network::g_bRoveCommUDPStatus = false;
         network::g_bRoveCommTCPStatus = false;