When I set_floor_as_origin = True, I often get this failure:
Camera opened successfully
Enabling Positional Tracking...
Positional Tracking enabled successfully
Initializing Camera Parameters...
Resolution: 1280x720
Focal length: fx=519.67, fy=519.67
HFOV: 101.85 degrees
VFOV: 69.42 degrees
Topdown FOV: 101.85 degrees++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Initializing Runtime Parameters...
Initializing Obstacle Map...
Enable positional tracking : FAILURE. Exit program.
[2025-11-21 01:47:42 UTC][ZED][ERROR] Cannot use Spatial mapping: Positional tracking not enabled
I follow the example here:
# Create a InitParameters object and set configuration parameters
init_params = sl.InitParameters()
init_params.depth_mode = sl.DEPTH_MODE.NEURAL
init_params.coordinate_units = sl.UNIT.METER # Set units in meters
init_params.coordinate_system = sl.COORDINATE_SYSTEM.RIGHT_HANDED_Z_UP_X_FWD
init_params.depth_maximum_distance = 8.
parse_args(args, init_params)
status = zed.open(init_params)
if status != sl.ERROR_CODE.SUCCESS:
print("Camera Open : "+repr(status)+". Exit program.")
exit()
print("Camera opened successfully")
## Enable positional tracking
print("Enabling Positional Tracking...")
positional_tracking_parameters = sl.PositionalTrackingParameters()
# positional_tracking_parameters.set_floor_as_origin = True
returned_state = zed.enable_positional_tracking(positional_tracking_parameters)
if returned_state != sl.ERROR_CODE.SUCCESS:
print("Enable Positional Tracking : "+repr(returned_state)+". Exit program.")
exit()
print("Positional Tracking enabled successfully")