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Commit 459c065d authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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less prints

parent 9272176f
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2 merge requests!28release after RAL,!27After 2nd RAL submission
......@@ -24,7 +24,7 @@ void ProcessorTrackerGnss::preProcess()
GnssUtils::SnapshotPtr inc_snapshot = std::static_pointer_cast<CaptureGnss>(incoming_ptr_)->getSnapshot();
WOLF_INFO("preprocess: initial observations: ", inc_snapshot->getObservations()->size());
int n_initial = inc_snapshot->getObservations()->size();
// compute satellites positions
if (!inc_snapshot ->satellitesComputed())
......@@ -49,7 +49,7 @@ void ProcessorTrackerGnss::preProcess()
WOLF_DEBUG("TS: ", incoming_ptr_->getTimeStamp(), " - Fix solution (ECEF): ", fix_incoming_.pos.transpose(), " - Fix solution (GEO): ", fix_incoming_.lat_lon.transpose());
WOLF_INFO("preprocess: RTKLIB excluded observations: ", fix_incoming_.discarded_sats.size());
//WOLF_INFO("preprocess: RTKLIB excluded observations: ", fix_incoming_.discarded_sats.size());
// filter observations (available ephemeris, constellations and elevation&SNR)
inc_snapshot->filterObservations(fix_incoming_.discarded_sats, // discarded sats
fix_incoming_.sat_azel,
......@@ -57,7 +57,7 @@ void ProcessorTrackerGnss::preProcess()
false, // check carrier phase
params_tracker_gnss_->gnss_opt);
WOLF_INFO("preprocess: filtered observations: ", inc_snapshot->getObservations()->size());
//WOLF_INFO("preprocess: filtered observations: ", inc_snapshot->getObservations()->size());
// compute corrected Ranges
inc_snapshot->computeRanges(fix_incoming_.sat_azel,
......@@ -75,7 +75,11 @@ void ProcessorTrackerGnss::preProcess()
untracked_incoming_features_[feat->satNumber()] = feat;
}
WOLF_INFO("preprocess: untracked incoming features: ", untracked_incoming_features_.size());
WOLF_INFO("ProcessorTrackerGnss::preProcess()",
"\n\tinitial observations: ", n_initial,
"\n\tRTKLIB discarded: ", fix_incoming_.discarded_sats.size(),
"\n\tgnssutils discarded: ", n_initial - untracked_incoming_features_.size() - fix_incoming_.discarded_sats.size(),
"\n\tdetected incoming features: ", untracked_incoming_features_.size());
}
unsigned int ProcessorTrackerGnss::trackFeatures(const FeatureBasePtrList& _features_in,
......@@ -86,7 +90,7 @@ unsigned int ProcessorTrackerGnss::trackFeatures(const FeatureBasePtrList& _feat
if (_features_in.empty())
return 0;
WOLF_INFO("tracking " , _features_in.size() , " features...");
//WOLF_INFO("tracking " , _features_in.size() , " features...");
assert(_capture == incoming_ptr_);
......@@ -107,7 +111,7 @@ unsigned int ProcessorTrackerGnss::trackFeatures(const FeatureBasePtrList& _feat
}
}
WOLF_INFO("Tracked features: " , _features_out.size());
WOLF_INFO("ProcessorTrackerGnss::trackFeatures: tracked " , _features_out.size(), " (of ", _features_in.size(), ")");
return _features_out.size();
}
......@@ -119,7 +123,7 @@ bool ProcessorTrackerGnss::voteForKeyFrame() const
// too old origin
if (origin_ptr_== nullptr or (last_ptr_->getTimeStamp() - origin_ptr_->getTimeStamp()) > params_tracker_gnss_->max_time_span )
{
WOLF_INFO( "Vote for KF because of time span or null origin" );
WOLF_DEBUG( "Vote for KF because of time span or null origin" );
return true;
}
......@@ -128,7 +132,7 @@ bool ProcessorTrackerGnss::voteForKeyFrame() const
if (known_features_incoming_.size() < params_tracker_feature_->min_features_for_keyframe
and !untracked_last_features_.empty())
{
WOLF_INFO( "Vote for KF because of too less known_features_incoming and not empty untracked in last" );
WOLF_DEBUG( "Vote for KF because of too less known_features_incoming and not empty untracked in last" );
return true;
}
......@@ -539,17 +543,21 @@ void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBas
fac->remove();
}
WOLF_INFO("ProcessorTrackerGnss::removeOutliers:",
"\n\tPseudorange: ", outliers_pseudorange_, "\t( ", (100.0 * outliers_pseudorange_)/(outliers_pseudorange_+inliers_pseudorange_), " %)",
"\n\tTDCP: ", outliers_tdcp_, "\t( ", (100.0 * outliers_tdcp_)/(outliers_tdcp_+inliers_tdcp_), " %)",
"\n\tsats:");
std::string sat_out_str("");
for (auto sat_out : sat_outliers_)
{
const int& sat = sat_out.first;
int sys = satsys(sat,NULL);
const unsigned int& outliers = sat_out.second;
std::cout << "\t\tsat " << sat << "(" << sys << "): " << outliers << std::endl;
}
"\n\tPseudorange: ", outliers_pseudorange_, "\t( ", (100.0 * outliers_pseudorange_)/(outliers_pseudorange_+inliers_pseudorange_), " %)");
if (params_tracker_gnss_->gnss_opt.tdcp.enabled and params_tracker_gnss_->remove_outliers_tdcp)
std::cout << "\tTDCP: "
<< outliers_tdcp_
<< "\t( "
<< (100.0 * outliers_tdcp_)/(outliers_tdcp_+inliers_tdcp_)
<< " \%)\n";
//std::cout << "\tsats:";
//for (auto sat_out : sat_outliers_)
//{
// const int& sat = sat_out.first;
// int sys = satsys(sat,NULL);
// const unsigned int& outliers = sat_out.second;
// std::cout << "\t\tsat " << sat << "(" << sys << "): " << outliers << std::endl;
//}
}
} // namespace wolf
......
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