Changed get_tracking_state to return a string

stella-cv · Dec 17, 2023 · 9edfe62 · 9edfe62
1 parent 30850bb
commit 9edfe62
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Showing 2 changed files with 13 additions and 3 deletions.
diff --git a/src/stella_vslam/publish/frame_publisher.cc b/src/stella_vslam/publish/frame_publisher.cc
@@ -73,9 +73,19 @@ cv::Mat frame_publisher::draw_frame() {
     return img;
 }
 
-tracker_state_t frame_publisher::get_tracking_state() {
+std::string frame_publisher::get_tracking_state() {
     std::lock_guard<std::mutex> lock(mtx_);
-    return tracking_state_;
+    std::string state_str;
+    if (tracking_state_ == tracker_state_t::Initializing) {
+        state_str = "Initializing";
+    }
+    else if (tracking_state_ == tracker_state_t::Lost) {
+        state_str = "Lost";
+    }
+    else if (tracking_state_ == tracker_state_t::Tracking) {
+        state_str = "Tracking";
+    }
+    return state_str;
 }
 
 std::vector<cv::KeyPoint> frame_publisher::get_keypoints() {

diff --git a/src/stella_vslam/publish/frame_publisher.h b/src/stella_vslam/publish/frame_publisher.h
@@ -51,7 +51,7 @@ class frame_publisher {
      */
     cv::Mat draw_frame();
 
-    tracker_state_t get_tracking_state();
+    std::string get_tracking_state();
 
     std::vector<cv::KeyPoint> get_keypoints();