From f53010537ba984e1c52a3c3ef96459a10dfaad0e Mon Sep 17 00:00:00 2001
From: hjy <1178065793@qq.com>
Date: Thu, 16 Apr 2026 23:23:56 +0800
Subject: [PATCH] more output

---
 src/cloud_reprojection_ros.cpp | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/src/cloud_reprojection_ros.cpp b/src/cloud_reprojection_ros.cpp
index 8d22de5..309b128 100644
--- a/src/cloud_reprojection_ros.cpp
+++ b/src/cloud_reprojection_ros.cpp
@@ -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);