wanngwe/odin_ros_driver1
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

more debug output

Browse Source
This commit is contained in:
hjy
2026-04-16 23:24:02 +08:00
parent ab32e12c58
commit 1a54de083d
1 changed files with 14 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/cloud_reprojection_ros.cpp
+14 -6
View File
@@ -561,23 +561,27 @@ void CloudReprojectionRosNode::syncCallback(
if (target_debug.recovered_by_reid) {
RCLCPP_WARN(
this->get_logger(),
"\033[1;33m[LazyReID]\033[0m \033[1;32mRECOVERED\033[0m stable_id=%d raw_id=%d det_ind=%d sim=%.3f gallery=%d lost=%d",
"\033[1;33m[LazyReID]\033[0m \033[1;32mRECOVERED\033[0m stable_id=%d raw_id=%d det_ind=%d sim=%.3f gallery=%d lost=%d lost_comp_attempted=%s lost_comp_recovered=%s",
target_debug.current_target_id_before,
target_debug.selected_raw_track_id,
target_debug.detection_index,
target_debug.reid_similarity,
target_debug.gallery_size,
target_debug.lost_frames);
target_debug.lost_frames,
target_debug.lost_detection_compensation_attempted ? "yes" : "no",
target_debug.recovered_by_lost_detection_compensation ? "yes" : "no");
} else {
RCLCPP_WARN(
this->get_logger(),
"\033[1;33m[LazyReID]\033[0m \033[1;31mNO_MATCH\033[0m prev_id=%d sim=%.3f gallery=%d lost=%d tracked=%d detections=%d",
"\033[1;33m[LazyReID]\033[0m \033[1;31mNO_MATCH\033[0m prev_id=%d sim=%.3f gallery=%d lost=%d tracked=%d detections=%d lost_comp_attempted=%s lost_comp_recovered=%s",
target_debug.current_target_id_before,
target_debug.reid_similarity,
target_debug.gallery_size,
target_debug.lost_frames,
target_debug.tracks_count,
target_debug.poses_count);
target_debug.poses_count,
target_debug.lost_detection_compensation_attempted ? "yes" : "no",
target_debug.recovered_by_lost_detection_compensation ? "yes" : "no");
}
}
@@ -588,7 +592,9 @@ void CloudReprojectionRosNode::syncCallback(
this->get_logger(),
*this->get_clock(),
2000,
"Target observation | no detections | yolo=%.2f ms | total=%.2f ms",
"Target observation | no detections | lost_comp_attempted=%s lost_comp_recovered=%s | yolo=%.2f ms | total=%.2f ms",
target_debug.lost_detection_compensation_attempted ? "yes" : "no",
target_debug.recovered_by_lost_detection_compensation ? "yes" : "no",
target_debug.yolo_ms,
target_debug.total_ms);
} else if (target_debug.tracks_count == 0) {
@@ -596,9 +602,11 @@ void CloudReprojectionRosNode::syncCallback(
this->get_logger(),
*this->get_clock(),
2000,
"Target observation | detections=%d tracked=0 current_target_id=%d | yolo=%.2f ms | mot=%.2f ms | total=%.2f ms",
"Target observation | detections=%d tracked=0 current_target_id=%d lost_comp_attempted=%s lost_comp_recovered=%s | yolo=%.2f ms | mot=%.2f ms | total=%.2f ms",
target_debug.poses_count,
target_debug.current_target_id_before,
target_debug.lost_detection_compensation_attempted ? "yes" : "no",
target_debug.recovered_by_lost_detection_compensation ? "yes" : "no",
target_debug.yolo_ms,
target_debug.mot_ms,
target_debug.total_ms);