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Improves logging, fixes #94. (#41)

master
Damon Kohler 2016-10-11 11:22:33 +02:00 committed by GitHub
parent 045f6a7522
commit 8f5fc98188
2 changed files with 5 additions and 4 deletions
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4
cartographer/common/ordered_multi_queue.h
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@ -66,8 +66,8 @@ class OrderedMultiQueue {
auto* queue = FindOrNull(queue_key); auto* queue = FindOrNull(queue_key);
if (queue == nullptr) { if (queue == nullptr) {
// TODO(damonkohler): This will not work for every value of "queue_key". // TODO(damonkohler): This will not work for every value of "queue_key".
LOG_EVERY_N(WARNING, 60) << "Ignored value for queue: '" << queue_key LOG_EVERY_N(WARNING, 1000) << "Ignored value for queue: '" << queue_key
<< "'"; << "'";
return; return;
} }
queue->queue.Push( queue->queue.Push(

5
cartographer/mapping_3d/motion_filter.cc
View File

@ -39,8 +39,9 @@ MotionFilter::MotionFilter(const proto::MotionFilterOptions& options)
bool MotionFilter::IsSimilar(const common::Time time, bool MotionFilter::IsSimilar(const common::Time time,
const transform::Rigid3d& pose) { const transform::Rigid3d& pose) {
LOG_EVERY_N(INFO, 500) << "Motion filter reduced the number of scans to " LOG_IF_EVERY_N(INFO, num_total_ >= 500, 500)
<< 100. * num_different_ / num_total_ << "%."; << "Motion filter reduced the number of scans to "
<< 100. * num_different_ / num_total_ << "%.";
++num_total_; ++num_total_;
if (num_total_ > 1 && if (num_total_ > 1 &&
time - last_time_ <= common::FromSeconds(options_.max_time_seconds()) && time - last_time_ <= common::FromSeconds(options_.max_time_seconds()) &&