test

apps/localize_ppk.cpp

@@ -68,15 +68,15 @@ int main(int argc, char *argv[])
     for(; bag_iter != bag_end_iter; bag_iter++) {
         if(bag_iter->path().extension().string() == ".bag"){
             LOG(INFO) << "bag found: " << bag_iter->path().string();
-            Timer::Evaluate(
-                [&, nullptr]() {
-                adjustPPK.ReadBag(bag_iter->path().string());
-                },
-                "1 ReadBag");
+            auto start = std::chrono::high_resolution_clock::now();
+            adjustPPK.ReadBag(bag_iter->path().string());
+            auto end = std::chrono::high_resolution_clock::now();
+            auto time_used = std::chrono::duration_cast<std::chrono::duration<double>>(end - start).count() * 1000;
+            LOG(INFO) << "ReadBag time_used " << time_used;
             break;
         }
     }
 
-    Timer::PrintAll();
+
     return 0;
 }

libs/localize/voxel_map/fast_voxel_matcher.cc

@@ -383,9 +383,9 @@ void FastVoxelMatcher::ScoreCandidates(const VoxelMap &voxel_map,
                 no_map_cnt++;
             }
         }
-        LOG(INFO) << "search_depth: " << candidates->front().search_depth
-                  << " grid_indexes: " << candidates->front().scan->grid_indexes.size()
-                  << ", no_map_cnt: " << no_map_cnt;
+//        LOG(INFO) << "search_depth: " << candidates->front().search_depth
+//                  << " grid_indexes: " << candidates->front().scan->grid_indexes.size()
+//                  << ", no_map_cnt: " << no_map_cnt;
     }
     if (0 != no_map_cnt) {
         float multi = (float)candidates->front().scan->grid_indexes.size() /