test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -295,6 +295,7 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK(
 {
     vector<IsometryData> periodPose;
     periodPose.reserve(150);
+    LOG(INFO) << "mapPose_ before HandleLocalPPK: " << mapPose_.translation().transpose();
     for(; ppkIndex_ < localPoseVec_.size(); ppkIndex_++){
         const auto &pose = localPoseVec_.at(ppkIndex_);
         if(0 == ppkIndex_){
@@ -325,6 +326,7 @@ vector<IsometryData> AdjustPPK::HandleLocalPPK(
         calibedPose.timestamp = pose.timestamp;
         periodPose.emplace_back(calibedPose);
     }
+    LOG(INFO) << "mapPose_ after HandleLocalPPK: " << mapPose_.translation().transpose();
     return periodPose;
 }
 

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -207,7 +207,7 @@ bool Convert::processScan(
 {
 //    LOG(INFO) << "scanMsg->packets.size(): " << scanMsg->packets.size();
     if(scanMsg->packets.size() < 2){
-        LOG(INFO) << "scanMsg->packets.size(): " << scanMsg->packets.size();
+        LOG_EVERY_N(INFO, 100) << "scanMsg->packets.size(): " << scanMsg->packets.size();
         return false;
     }
     if(!inited){