fix bug

Author: zhouyao4321

modules/localization/msf/common/io/velodyne_utility.cc

@@ -151,7 +151,7 @@ void LoadPosesAndStds(const std::string& file_path,
       timestamps->push_back(timestamp);
 
       Eigen::Vector3d std;
-      AINFO << std_x, std_y, std_z;
+      std << std_x, std_y, std_z;
       stds->push_back(std);
     }
     fclose(file);

modules/localization/msf/common/util/extract_ground_plane.h

@@ -24,6 +24,7 @@
 #include "pcl/sample_consensus/ransac.h"
 #include "pcl/sample_consensus/sac_model_plane.h"
 
+#include "cyber/common/log.h"
 #include "modules/localization/msf/common/util/voxel_grid_covariance_hdmap.h"
 
 namespace apollo {
@@ -108,21 +109,18 @@ class FeatureXYPlane {
           cloud_tmp += it->second.cloud_;
         }
       }
-      std::cerr << "the " << iter << " interation: plane_num = " << plane_num
-                << std::endl;
+      AINFO << "the " << iter << " interation: plane_num = " << plane_num;
       total_plane_num += plane_num;
       pointcloud_ptr.reset(new PointCloudT);
       *pointcloud_ptr = cloud_tmp;
     }
 
     *non_xy_plane_cloud_ = *pointcloud_ptr;
     plane_time = std::clock() - plane_time;
-    std::cerr << "plane_patch takes:"
-              << static_cast<double>(plane_time) / CLOCKS_PER_SEC << "sec."
-              << std::endl;
-    std::cerr << "total_plane_num = " << total_plane_num << std::endl;
-    std::cerr << "total_points_num = " << xy_plane_cloud_->points.size()
-              << std::endl;
+    AINFO << "plane_patch takes:"
+          << static_cast<double>(plane_time) / CLOCKS_PER_SEC << "sec.";
+    AINFO << "total_plane_num = " << total_plane_num;
+    AINFO << "total_points_num = " << xy_plane_cloud_->points.size();
     return;
   }
 

modules/localization/msf/local_tool/map_creation/lossless_map_creator.cc

@@ -81,8 +81,7 @@ bool ParseCommandLine(int argc, char* argv[],
     }
     boost::program_options::notify(*vm);
   } catch (std::exception& e) {
-    AERROR << "Error" << e.what();
-    AERROR << desc;
+    AERROR << "Error: " << e.what() << " " << desc;
     return false;
   } catch (...) {
     AERROR << "Unknown error!";
@@ -246,8 +245,7 @@ int main(int argc, char** argv) {
     }
     fclose(file);
   } else {
-    AERROR << "Can't open file: "
-           << "./lossless_map/config.txt";
+    AERROR << "Can't open file: " << file_buf;
   }
 
   LosslessMapNodePool lossless_map_node_pool(25, 8);
@@ -323,14 +321,14 @@ int main(int argc, char** argv) {
         std::vector<unsigned int> layer_counts;
         map.GetCountSafe(pt3d, zone_id, resolution_id, &layer_counts);
         if (layer_counts.empty()) {
-          AINFO << "No ground layer, skip.";
+          ADEBUG << "No ground layer, skip.";
           continue;
         }
         if (layer_counts[layer_id] > 0) {
           std::vector<float> layer_alts;
           map.GetAltSafe(pt3d, zone_id, resolution_id, &layer_alts);
           if (layer_alts.empty()) {
-            AINFO << "No ground points, skip.";
+            ADEBUG << "No ground points, skip.";
             continue;
           }
           float alt = layer_alts[layer_id];

modules/localization/msf/local_tool/map_creation/lossless_map_to_lossy_map.cc

@@ -49,7 +49,7 @@ MapNodeIndex GetMapIndexFromMapFolder(const std::string& map_folder) {
   if (zone == "south") {
     index.zone_id_ = -index.zone_id_;
   }
-  AINFO << index;
+  ADEBUG << index;
   return index;
 }
 
@@ -185,7 +185,7 @@ int main(int argc, char** argv) {
     LosslessMapNode* lossless_node =
         static_cast<LosslessMapNode*>(lossless_map.GetMapNodeSafe(*itr));
     if (lossless_node == nullptr) {
-      AINFO << "index: " << index << " is a nullptr pointer!";
+      AWARN << "index: " << index << " is a nullptr pointer!";
       continue;
     }
     LosslessMapMatrix& lossless_matrix =

modules/localization/msf/local_tool/map_creation/poses_interpolation/poses_interpolation.cc

@@ -160,7 +160,7 @@ void PosesInterpolation::PoseInterpolationByTime(
       AWARN << "[WARN] No more poses. Exit now.";
       break;
     }
-    AINFO << "Frame_id: " << i;
+    ADEBUG << "Frame_id: " << i;
   }
 }