From e3a184501645a3a47a0e7b063dd60d8b621473df Mon Sep 17 00:00:00 2001 From: TadaKazuto Date: Mon, 10 Mar 2025 22:47:38 +0900 Subject: [PATCH] Add log --- .../src/multi_object_tracker_core.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index 8c8454fce322c..521ff3bd9a6c8 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -279,15 +279,15 @@ void MultiObjectTracker::onMeasurement( int tracker_idx = 0; for (auto tracker_itr = list_tracker_.begin(); tracker_itr != list_tracker_.end(); ++tracker_itr, ++tracker_idx) { + autoware_auto_perception_msgs::msg::TrackedObject object; + (*tracker_itr)->getTrackedObject(measurement_time, object); if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { // found (*(tracker_itr)) ->updateWithMeasurement( transformed_objects.objects.at(direct_assignment.find(tracker_idx)->second), measurement_time, *self_transform); - // Modified debug output - autoware_auto_perception_msgs::msg::TrackedObject object; - (*tracker_itr)->getTrackedObject(measurement_time, object); + if (object.classification.at(0).label == Label::UNKNOWN) { char buf[120]; snprintf(buf, sizeof(buf), "track meas update idx[%d], x[%.3f], y[%.3f], t[%.3f]\n", @@ -299,6 +299,15 @@ void MultiObjectTracker::onMeasurement( } } else { // not found (*(tracker_itr))->updateWithoutMeasurement(); + if (object.classification.at(0).label == Label::UNKNOWN) { + char buf[120]; + snprintf(buf, sizeof(buf), "track meas no update idx[%d], x[%.3f], y[%.3f], t[%.3f]\n", + tracker_idx, + object.kinematics.pose_with_covariance.pose.position.x, + object.kinematics.pose_with_covariance.pose.position.y, + measurement_time.seconds()); + debug_message += buf; + } } }