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localize_for_ppk
Commit ab2ac1a6 authored by wangdawei's avatar wangdawei
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add log

parent c5a2ad68
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Showing with 3 additions and 2 deletions
apps/localize_ppk.cpp
View file @ ab2ac1a6
...@@ -77,6 +77,6 @@ int main(int argc, char *argv[]) ...@@ -77,6 +77,6 @@ int main(int argc, char *argv[])
} }
} }
LOG(INFO) << "Done";
return 0; return 0;
} }
libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
View file @ ab2ac1a6
...@@ -478,12 +478,13 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo) ...@@ -478,12 +478,13 @@ bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)
while(!currMatcher_->IsMapLoaded(guess.translation())){ while(!currMatcher_->IsMapLoaded(guess.translation())){
std::this_thread::sleep_for(std::chrono::milliseconds(100)); std::this_thread::sleep_for(std::chrono::milliseconds(100));
if(++checkCnt > 200){ if(++checkCnt > 200){
LOG(INFO) << "IsMapLoaded fail ++checkCnt > 200! ";
return false; return false;
} }
} }
double avgGridCnt = currMatcher_->AreaAvgGridCnt(guess.translation()); double avgGridCnt = currMatcher_->AreaAvgGridCnt(guess.translation());
// LOG(INFO) << "avgGridCnt: " << avgGridCnt;
if(avgGridCnt < 20000){ if(avgGridCnt < 20000){
LOG(INFO) << "avgGridCnt < 20000! " << "avgGridCnt: " << avgGridCnt;
return false; return false;
} }
ofs << setprecision(16) << cloudInfo.timestamp << ", " << guess.translation().x() ofs << setprecision(16) << cloudInfo.timestamp << ", " << guess.translation().x()
......
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