[Question] sdk 3.1, cuda10, zed1, pose covariance are all 0's?

Here is my param, I'm just using the zed_odom as an input:
# params/common_yaml
# Common parameters to Stereolabs ZED and ZED mini cameras
---

# Dynamic parameters cannot have a namespace
brightness:                 4                                   # Dynamic
contrast:                   4                                   # Dynamic
hue:                        0                                   # Dynamic
saturation:                 4                                   # Dynamic
sharpness:                  4                                   # Dynamic
gamma:                      8                                   # Dynamic - Requires SDK >=v3.1
auto_exposure_gain:         true                                # Dynamic
gain:                       100                                 # Dynamic - works only if `auto_exposure_gain` is false
exposure:                   100                                 # Dynamic - works only if `auto_exposure_gain` is false
auto_whitebalance:          true                                # Dynamic
whitebalance_temperature:   4200                                # Dynamic - works only if `auto_whitebalance` is false
depth_confidence:           50                                  # Dynamic
depth_texture_conf:         50                                 # Dynamic
pub_frame_rate:             15.0                                # Dynamic - frequency of publishing of video and depth data
point_cloud_freq:           15.0                                # Dynamic - frequency of the pointcloud publishing (equal or less to `frame_rate` value)
spatial_memory: true                           #required to get covariance reading from odom
general:
    camera_name:                zed
    camera_flip:                false
    zed_id:                     -1                              #need to change this once we have multicamera
    serial_number:              0
    resolution:                 3                                   # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
    grab_frame_rate:            15                              # Frequency of frame grabbing for internal SDK operations
    gpu_id:                     -1
    base_frame:                 'base_link'                         # must be equal to the frame_id used in the URDF file
    verbose:                    true
    svo_compression:            2                                   # `0`: LOSSLESS, `1`: AVCHD, `2`: HEVC
    self_calib:                 true                                # enable/disable self calibration at starting

video:
    img_downsample_factor:      1.0                             # Resample factor for images [0.01,1.0] The SDK works with native image sizes, but publishes rescaled image.
    extrinsic_in_camera_frame:  true                            # if `false` extrinsic parameter in `camera_info` will use ROS native frame (X FORWARD, Z UP) instead of the camera frame (Z FORWARD, Y DOWN) [`true` use old behavior as for version < v3.1]

depth:
    quality:                    3                               # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA
    sensing_mode:               0                               # '0': STANDARD, '1': FILL (not use FILL for robotic applications)
    depth_stabilization:        1                               # `0`: disabled, `1`: enabled
    openni_depth_mode:          0                               # '0': 32bit float meters, '1': 16bit uchar millimeters
    depth_downsample_factor:    1.0                             # Resample factor for depth data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices (depth map, point cloud, ...)

pos_tracking:
    publish_tf:                 false                          # publish `odom -> base_link` TF
    publish_map_tf:             false                           # publish `map -> odom` TF
    map_frame:                  'map'
    odometry_frame:             'odom'
    area_memory_db_path:        ''
    area_memory:                true                            # Enable to detect loop closure
    pose_smoothing:             true
    floor_alignment:            false                           # Enable to automatically calculate camera/floor offset
    initial_base_pose:          [0.0,  0.0,  0.59, 0.0,0.0,0.0]      # Initial position of the `base_frame` -> [X, Y, Z, R, P, Y]
    init_odom_with_first_valid_pose: true                      # Enable to initialize the odometry with the first valid pose
    path_pub_rate:              2.0                             # Camera trajectory publishing frequency
    path_max_count:             -1                              # use '-1' for unlimited path size
    two_d_mode:                 false                           # Force navigation on a plane. If true the Z value will be fixed to "fixed_z_value", roll and pitch to zero
    fixed_z_value:              0.00                            # Value to be used for Z coordinate if `two_d_mode` is true
                 # Value to be used for Z coordinate if `two_d_mode` is true

mapping:
    mapping_enabled:            false                           # True to enable mapping and fused point cloud pubblication
    resolution_m:               0.05                            # maps resolution in meters [0.01f, 0.2f]
    max_mapping_range:          -1                              # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0]
    fused_pointcloud_freq:      1.0                             # frequency of the publishing of the fused colored point cloud
stereolabs / zed-ros-wrapper

[Question] sdk 3.1, cuda10, zed1, pose covariance are all 0's? #650
