test

libs/localize/voxel_map/ceres_voxel_matcher.cc

@@ -36,6 +36,7 @@ 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/localize/voxel_map_matcher.cc

@@ -25,8 +25,6 @@ inline float ceres_match(CeresVoxelMatcher *matcher, const VoxelMap *map,
     ceres::Solver::Summary summary;
     Eigen::Vector4d loss = matcher->Match(
         predict_pose, high_cloud, low_cloud, *map, &estimate_pose, &summary, ceres_type);
-    LOG(INFO) << "ceres_match predict_pose.translation(): " << predict_pose.translation().transpose()
-              << " estimate_pose.translation(): " << estimate_pose.translation().transpose();
     return loss[0];
 }