test

libs/localize/voxel_map/ceres_voxel_matcher.cc

@@ -36,7 +36,6 @@ Eigen::Vector4d CeresVoxelMatcher::Match(const Rigid3d &init_pose,
     std::array<double, 3> translation = {init_pose.translation().x(),
                                          init_pose.translation().y(),
                                          init_pose.translation().z()};
-    LOG(INFO) << "ceres_match init_pose.translation(): " << init_pose.translation().transpose();
     // Rotation quaternion as (w, x, y, z)
     // Eigen::Quaterniond init as (w, x, y, z), but stores data as (x, y, z, w)
     std::array<double, 4> rotation = {init_pose.rotation().w(), init_pose.rotation().x(),

libs/voxel_map/libs/area/maparea.h

@@ -246,8 +246,8 @@ public:
         if(!currMesh_){
             return ret;
         }
-        x -= currMesh_->GetOffset().x();
-        y -= currMesh_->GetOffset().y();
+//        x -= currMesh_->GetOffset().x();
+//        y -= currMesh_->GetOffset().y();
         float gridResolution = currMesh_->getGridResolution();
 //        uint32_t typeGridResolution = round(gridResolution * 100) * (1 << type);