提交测试

TrackingRos.cpp

@@ -143,6 +143,8 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     auto cfg2 = config["POINTPILLARS"];
     m_kitti2origin = cfg2["KITTI2ORIGIN"].as<std::vector<std::vector<float>>>();
 
+    SDK_LOG(SDK_INFO, "trans = [%s]", GetMatrixStr(m_trans, 4, 4);
+    SDK_LOG(SDK_INFO, "kitti2origin = [%s]", GetMatrixStr(m_kitti2origin,4,4);
     ADD_DEF_LOG(1, "tracking.csv");
     SDK_IDX_LOG(1, SDK_INFO, "date,frameNum,time,id,input_radian,input_angle,predict_radian,predict_angle,output_radian,output_angle,input_x,input_y,input_z,input_l,input_w,input_h,predict_x,predict_y,predict_z,predict_l,predict_w,preditc_h,output_x,output_y,output_z,output_l,output_w,output_h,output_rot_y,v_x,v_y,v_z,lat,lon");
     //m_coordinate.Init(value[0][0], value[0][1], value[0][2], value[0][3], value[1][0], value[1][1]);