From acf1a418c11708c48d1e9b13a6d11c08e27a702b Mon Sep 17 00:00:00 2001
From: ymd-stella <7959916+ymd-stella@users.noreply.github.com>
Date: Sun, 17 Dec 2023 10:37:52 +0900
Subject: [PATCH] Changed get_tracking_state to return a string (#548)

---
 src/stella_vslam/publish/frame_publisher.cc | 14 ++++++++++++--
 src/stella_vslam/publish/frame_publisher.h  |  2 +-
 2 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/src/stella_vslam/publish/frame_publisher.cc b/src/stella_vslam/publish/frame_publisher.cc
index ed081ac6..f2d459ba 100644
--- 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
index 429323d6..b4c2e447 100644
--- 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();