test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -42,6 +42,7 @@ void AdjustPPK::ReadBag(const string &bagPath)
     if(!convert_){
         return;
     }
+    LOG(INFO) << "ReadBag: " << bagPath;
     rosbag::Bag bag;
     boost::shared_ptr<rosbag::View> view;
     rosbag::View::iterator viewIterator;
@@ -150,6 +151,7 @@ void AdjustPPK::LoadMapInfo()
             meshVec_.insert(make_pair(ulong(stoi(meshId)), meshMap));
         }
     }
+    LOG(INFO) << "meshVec_.size(): " << meshVec_.size();
 }
 
 void AdjustPPK::CalLocalPose()
@@ -194,6 +196,7 @@ void AdjustPPK::CalPPKPeriod()
     }
     period.endTime = rawData_.back().unix_time;
     ppkPeriodVec_.emplace_back(period);
+    LOG(INFO) << "ppkPeriodVec_.size(): " << ppkPeriodVec_.size();
 }
 
 PointCloudInter::Ptr AdjustPPK::GetBaseFrame(
@@ -245,6 +248,7 @@ void AdjustPPK::ConfigMap(double timestamp)
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
     currMatcher_ = meshVec_.at(meshId).matcher;
+    LOG(INFO) << "set currMatcher_: " << meshId;
 }
 
 bool AdjustPPK::LocateCloud(const CloudInfoForMatch &cloudInfo)