From d0e023e6a1bebe4c5bd5b83c6072971d16eab9d8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Thu, 1 Oct 2020 17:46:37 +0200
Subject: [PATCH] debugging
---
src/processor/processor_tracker_gnss.cpp | 17 ++++++++++++++---
1 file changed, 14 insertions(+), 3 deletions(-)
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index a26e2978a..2cb5a773c 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -110,15 +110,19 @@ void ProcessorTrackerGnss::preProcess()
untracked_incoming_features_[feat->satNumber()] = feat;
}
- std::string discarded_str;
+#ifdef _WOLF_DEBUG
+ std::string discarded_str, detected_str;
for (auto sat : fix_incoming_.discarded_sats)
discarded_str += std::to_string(sat) + " ";
+ for (auto ftr_pair : untracked_incoming_features_)
+ detected_str += std::to_string(ftr_pair.first) + " ";
+#endif
WOLF_DEBUG("ProcessorTrackerGnss::preProcess()",
"\n\tinitial observations: ", n_initial,
"\n\tRTKLIB discarded: ", fix_incoming_.discarded_sats.size(), " (", discarded_str, ")",
"\n\tgnssutils discarded: ", n_initial - untracked_incoming_features_.size() - fix_incoming_.discarded_sats.size(),
- "\n\tdetected incoming features: ", untracked_incoming_features_.size());
+ "\n\tdetected incoming features: ", untracked_incoming_features_.size(), " (", detected_str, ")");
}
unsigned int ProcessorTrackerGnss::trackFeatures(const FeatureBasePtrList& _features_in,
@@ -140,6 +144,8 @@ unsigned int ProcessorTrackerGnss::trackFeatures(const FeatureBasePtrList& _feat
int sat_num = std::static_pointer_cast<FeatureGnssSatellite>(feat_in)->satNumber();
+ WOLF_DEBUG("tracking " , feat_in->trackId() , ", sat number ", sat_num);
+
if (untracked_incoming_features_.count(sat_num) != 0 and
std::abs(untracked_incoming_features_.at(sat_num)->getObservation().L[0]) > 1e-12) // Track only carrier phase valid
{
@@ -148,7 +154,12 @@ unsigned int ProcessorTrackerGnss::trackFeatures(const FeatureBasePtrList& _feat
_features_out.push_back(ftr);
_feature_correspondences[ftr] = std::make_shared<FeatureMatch>(FeatureMatch({feat_in,0}));
- WOLF_DEBUG("track: " , feat_in->trackId() , " last: " , feat_in->id() , " inc: " , ftr->id() , " !" );
+ WOLF_DEBUG("\ttracked: " , feat_in->trackId() , " last: " , feat_in->id() , " inc: " , ftr->id() , " !" );
+ }
+ else
+ {
+ WOLF_DEBUG_COND(untracked_incoming_features_.count(sat_num) == 0, "\tnot tracked, missing satellite" );
+ WOLF_DEBUG_COND(untracked_incoming_features_.count(sat_num) == 1, "\tnot tracked, wrong carrier phase value" );
}
}
--
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