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suppress debug output #54

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26 changes: 13 additions & 13 deletions src/laserMapping.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -165,10 +165,10 @@ void transformAssociateToMap()
transformTobeMapped[4] = t_predict[1];
transformTobeMapped[5] = t_predict[2];

std::cout<<"DEBUG transformAftMapped : "<<transformAftMapped[0]<<" "<<transformAftMapped[1]<<" "<<transformAftMapped[2]<<" "
<<transformAftMapped[3]<<" "<<transformAftMapped[4]<<" "<<transformAftMapped[5]<<std::endl;
std::cout<<"DEBUG transformTobeMapped : "<<transformTobeMapped[0]<<" "<<transformTobeMapped[1]<<" "<<transformTobeMapped[2]<<" "
<<transformTobeMapped[3]<<" "<<transformTobeMapped[4]<<" "<<transformTobeMapped[5]<<std::endl;
// std::cout<<"DEBUG transformAftMapped : "<<transformAftMapped[0]<<" "<<transformAftMapped[1]<<" "<<transformAftMapped[2]<<" "
// <<transformAftMapped[3]<<" "<<transformAftMapped[4]<<" "<<transformAftMapped[5]<<std::endl;
// std::cout<<"DEBUG transformTobeMapped : "<<transformTobeMapped[0]<<" "<<transformTobeMapped[1]<<" "<<transformTobeMapped[2]<<" "
// <<transformTobeMapped[3]<<" "<<transformTobeMapped[4]<<" "<<transformTobeMapped[5]<<std::endl;
}

void transformUpdate()
Expand Down Expand Up @@ -463,7 +463,7 @@ int main(int argc, char** argv)
newLaserCloudFullRes = false;

//transformAssociateToMap();
std::cout<<"DEBUG mapping start "<<std::endl;
// std::cout<<"DEBUG mapping start "<<std::endl;

PointType pointOnYAxis;
pointOnYAxis.x = 0.0;
Expand Down Expand Up @@ -730,12 +730,12 @@ int main(int argc, char** argv)
downSizeFilterSurf.filter(*laserCloudSurfLast_down);
int laserCloudSurfLast_downNum = laserCloudSurfLast_down->points.size();

std::cout<<"DEBUG MAPPING laserCloudCornerLast_down : "<<laserCloudCornerLast_down->points.size()<<" laserCloudSurfLast_down : "
<<laserCloudSurfLast_down->points.size()<<std::endl;
std::cout<<"DEBUG MAPPING laserCloudCornerLast : "<<laserCloudCornerLast->points.size()<<" laserCloudSurfLast : "
<<laserCloudSurfLast->points.size()<<std::endl;
std::cout<<"DEBUG MAPPING laserCloudCornerFromMapNum : "<<laserCloudCornerFromMapNum<<" laserCloudSurfFromMapNum : "
<<laserCloudSurfFromMapNum<<std::endl;
// std::cout<<"DEBUG MAPPING laserCloudCornerLast_down : "<<laserCloudCornerLast_down->points.size()<<" laserCloudSurfLast_down : "
// <<laserCloudSurfLast_down->points.size()<<std::endl;
// std::cout<<"DEBUG MAPPING laserCloudCornerLast : "<<laserCloudCornerLast->points.size()<<" laserCloudSurfLast : "
// <<laserCloudSurfLast->points.size()<<std::endl;
// std::cout<<"DEBUG MAPPING laserCloudCornerFromMapNum : "<<laserCloudCornerFromMapNum<<" laserCloudSurfFromMapNum : "
// <<laserCloudSurfFromMapNum<<std::endl;

t2 = clock();
if (laserCloudCornerFromMapNum > 10 && laserCloudSurfFromMapNum > 100) {
Expand Down Expand Up @@ -1032,7 +1032,7 @@ int main(int argc, char** argv)
break;
}
}
std::cout<<"DEBUG num_temp: "<<num_temp << std::endl;
// std::cout<<"DEBUG num_temp: "<<num_temp << std::endl;

transformUpdate();
}
Expand Down Expand Up @@ -1184,7 +1184,7 @@ int main(int argc, char** argv)

t4 = clock();

std::cout<<"mapping time : "<<t2-t1<<" "<<t3-t2<<" "<<t4-t3<<std::endl;
// std::cout<<"mapping time : "<<t2-t1<<" "<<t3-t2<<" "<<t4-t3<<std::endl;


}
Expand Down
6 changes: 3 additions & 3 deletions src/scanRegistration.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -499,9 +499,9 @@ void laserCloudHandler(const sensor_msgs::PointCloud2ConstPtr& laserCloudMsg)
}


std::cout<<"ALL point: "<<cloudSize<<" outliers: "<< debugnum1 << std::endl
<<" break points: "<< debugnum2<<" break feature: "<< debugnum3 << std::endl
<<" normal points: "<< debugnum4<<" surf-surf feature: " << debugnum5 << std::endl;
// std::cout<<"ALL point: "<<cloudSize<<" outliers: "<< debugnum1 << std::endl
// <<" break points: "<< debugnum2<<" break feature: "<< debugnum3 << std::endl
// <<" normal points: "<< debugnum4<<" surf-surf feature: " << debugnum5 << std::endl;

sensor_msgs::PointCloud2 laserCloudOutMsg;
pcl::toROSMsg(*laserCloud, laserCloudOutMsg);
Expand Down