update logs in map creation

Author: zhouyao4321

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

@@ -43,7 +43,7 @@ void LoadPcds(const std::string& file_path, const unsigned int frame_index,
   pcl::PointCloud<PointXYZIT>::Ptr cloud(new pcl::PointCloud<PointXYZIT>);
   if (pcl::io::loadPCDFile(file_path, *cloud) >= 0) {
     if (cloud->height == 1 || cloud->width == 1) {
-      AERROR << "Un-organized-point-cloud";
+      AINFO << "Un-organized-point-cloud";
       for (unsigned int i = 0; i < cloud->size(); ++i) {
         Eigen::Vector3d pt3d;
         pt3d[0] = (*cloud)[i].x;
@@ -151,7 +151,7 @@ void LoadPosesAndStds(const std::string& file_path,
       timestamps->push_back(timestamp);
 
       Eigen::Vector3d std;
-      std << std_x, std_y, std_z;
+      AINFO << std_x, std_y, std_z;
       stds->push_back(std);
     }
     fclose(file);

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

@@ -17,6 +17,7 @@
 #include "boost/filesystem.hpp"
 #include "boost/program_options.hpp"
 
+#include "cyber/common/log.h"
 #include "modules/localization/msf/common/io/velodyne_utility.h"
 #include "modules/localization/msf/common/util/extract_ground_plane.h"
 #include "modules/localization/msf/common/util/system_utility.h"
@@ -75,16 +76,16 @@ bool ParseCommandLine(int argc, char* argv[],
     boost::program_options::store(
         boost::program_options::parse_command_line(argc, argv, desc), *vm);
     if (vm->count("help")) {
-      std::cerr << desc << std::endl;
+      AERROR << desc;
       return false;
     }
     boost::program_options::notify(*vm);
   } catch (std::exception& e) {
-    std::cerr << "Error" << e.what() << std::endl;
-    std::cerr << desc << std::endl;
+    AERROR << "Error" << e.what();
+    AERROR << desc;
     return false;
   } catch (...) {
-    std::cerr << "Unknown error!" << std::endl;
+    AERROR << "Unknown error!";
     return false;
   }
   return true;
@@ -104,7 +105,7 @@ int main(int argc, char** argv) {
 
   boost::program_options::variables_map boost_args;
   if (!ParseCommandLine(argc, argv, &boost_args)) {
-    std::cerr << "Parse input command line failed." << std::endl;
+    AERROR << "Parse input command line failed.";
     return -1;
   }
 
@@ -113,8 +114,7 @@ int main(int argc, char** argv) {
   const std::vector<std::string> pose_files =
       boost_args["pose_files"].as<std::vector<std::string>>();
   if (pcd_folder_paths.size() != pose_files.size()) {
-    std::cerr << "The count of pcd folders is not equal pose files"
-              << std::endl;
+    AERROR << "The count of pcd folders is not equal pose files";
     return -1;
   }
 
@@ -128,14 +128,14 @@ int main(int argc, char** argv) {
       boost_args["coordinate_type"].as<std::string>();
   if (strcasecmp(coordinate_type.c_str(), "UTM") != 0 &&
       strcasecmp(coordinate_type.c_str(), "LTM") != 0) {
-    std::cerr << "Coordinate type invalid. (UTM or LTM)" << std::endl;
+    AERROR << "Coordinate type invalid. (UTM or LTM)";
     return -1;
   }
   const std::string map_resolution_type =
       boost_args["map_resolution_type"].as<std::string>();
   if (strcasecmp(map_resolution_type.c_str(), "single") != 0 &&
       strcasecmp(map_resolution_type.c_str(), "multi") != 0) {
-    std::cerr << "Map resolution type invalid. (single or multi)" << std::endl;
+    AERROR << "Map resolution type invalid. (single or multi)";
     return -1;
   }
 
@@ -150,17 +150,17 @@ int main(int argc, char** argv) {
       fabs(single_resolution_map - 4.0) < 1e-8 &&
       fabs(single_resolution_map - 8.0) < 1e-8 &&
       fabs(single_resolution_map - 16.0) < 1e-8) {
-    std::cerr << "Map resolution can only be: 0.03125, "
-              << "0.0625, 0.125, 0.25, 0.5, 1.0, 2.0, "
-              << "4.0, 8.0 or 16.0." << std::endl;
+    AWARN << "Map resolution can only be: 0.03125, "
+          << "0.0625, 0.125, 0.25, 0.5, 1.0, 2.0, "
+          << "4.0, 8.0 or 16.0.";
   }
 
   const size_t num_trials = pcd_folder_paths.size();
 
   // load all poses
-  std::cerr << "Pcd folders are as follows:" << std::endl;
+  AINFO << "Pcd folders are as follows:";
   for (size_t i = 0; i < num_trials; ++i) {
-    std::cerr << pcd_folder_paths[i] << std::endl;
+    AINFO << pcd_folder_paths[i];
   }
   std::vector<std::vector<Eigen::Affine3d>> ieout_poses(num_trials);
   std::vector<std::vector<double>> time_stamps(num_trials);
@@ -246,8 +246,8 @@ int main(int argc, char** argv) {
     }
     fclose(file);
   } else {
-    std::cerr << "Can't open file: "
-              << "./lossless_map/config.txt" << std::endl;
+    AERROR << "Can't open file: "
+           << "./lossless_map/config.txt";
   }
 
   LosslessMapNodePool lossless_map_node_pool(25, 8);
@@ -268,9 +268,9 @@ int main(int argc, char** argv) {
       const Eigen::Affine3d& pcd_pose = poses[trial_frame_idx];
       apollo::localization::msf::velodyne::LoadPcds(
           pcd_file_path, trial_frame_idx, pcd_pose, &velodyne_frame, false);
-      AERROR << "Loaded " << velodyne_frame.pt3ds.size()
-             << "3D Points at Trial: " << trial << " Frame: " << trial_frame_idx
-             << ".";
+      AINFO << "Loaded " << velodyne_frame.pt3ds.size()
+            << "3D Points at Trial: " << trial << " Frame: " << trial_frame_idx
+            << ".";
 
       for (size_t i = 0; i < velodyne_frame.pt3ds.size(); ++i) {
         Eigen::Vector3d& pt3d_local = velodyne_frame.pt3ds[i];
@@ -323,14 +323,14 @@ 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()) {
-          AERROR << "No ground layer, skip.";
+          AINFO << "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()) {
-            AERROR << "No ground points, skip.";
+            AINFO << "No ground points, skip.";
             continue;
           }
           float alt = layer_alts[layer_id];
@@ -355,6 +355,6 @@ int main(int argc, char** argv) {
       static_cast<float>(mean_height_diff);
   std::string config_path = map.GetConfig().map_folder_path_ + "/config.xml";
   map.GetConfig().Save(config_path);
-  ADEBUG << "Mean: " << mean_height_diff << ", Var: " << var_height_diff << ".";
+  AINFO << "Mean: " << mean_height_diff << ", Var: " << var_height_diff << ".";
   return 0;
 }

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

@@ -17,6 +17,7 @@
 #include <boost/filesystem.hpp>
 #include <boost/program_options.hpp>
 
+#include "cyber/common/log.h"
 #include "modules/localization/msf/local_map/lossless_map/lossless_map.h"
 #include "modules/localization/msf/local_map/lossless_map/lossless_map_config.h"
 #include "modules/localization/msf/local_map/lossless_map/lossless_map_matrix.h"
@@ -48,7 +49,7 @@ MapNodeIndex GetMapIndexFromMapFolder(const std::string& map_folder) {
   if (zone == "south") {
     index.zone_id_ = -index.zone_id_;
   }
-  std::cout << index << std::endl;
+  AINFO << index;
   return index;
 }
 
@@ -123,7 +124,7 @@ int main(int argc, char** argv) {
 
   if (boost_args.count("help") || !boost_args.count("srcdir") ||
       !boost_args.count("dstdir")) {
-    std::cout << boost_desc << std::endl;
+    AERROR << boost_desc;
     return 0;
   }
 
@@ -139,7 +140,7 @@ int main(int argc, char** argv) {
   lossless_map.InitMapNodeCaches(12, 24);
   lossless_map.AttachMapNodePool(&lossless_map_node_pool);
   if (!lossless_map.SetMapFolderPath(src_map_folder)) {
-    std::cerr << "Reflectance map folder is invalid!" << std::endl;
+    AERROR << "Reflectance map folder is invalid!";
     return -1;
   }
 
@@ -151,14 +152,14 @@ int main(int argc, char** argv) {
 
   std::list<MapNodeIndex> buf;
   GetAllMapIndex(src_map_folder, dst_map_folder, &buf);
-  std::cout << "index size: " << buf.size() << std::endl;
+  AINFO << "index size: " << buf.size();
 
   LosslessMapConfig config_transform_lossy("lossless_map");
   config_transform_lossy.Load(src_map_folder + "config.xml");
   config_transform_lossy.map_version_ = "lossy_map";
   config_transform_lossy.Save(dst_map_folder + "config.xml");
 
-  std::cout << "lossy map directory structure has built." << std::endl;
+  AINFO << "lossy map directory structure has built.";
 
   LossyMapConfig lossy_config("lossy_map");
   LossyMapNodePool lossy_map_node_pool(25, 8);
@@ -167,7 +168,7 @@ int main(int argc, char** argv) {
   lossy_map.InitMapNodeCaches(12, 24);
   lossy_map.AttachMapNodePool(&lossy_map_node_pool);
   if (!lossy_map.SetMapFolderPath(dst_map_folder)) {
-    std::cout << "lossy_map config xml not exist" << std::endl;
+    AINFO << "lossy_map config xml not exist";
   }
 
   int index = 0;
@@ -184,7 +185,7 @@ int main(int argc, char** argv) {
     LosslessMapNode* lossless_node =
         static_cast<LosslessMapNode*>(lossless_map.GetMapNodeSafe(*itr));
     if (lossless_node == nullptr) {
-      std::cerr << "index: " << index << " is a nullptr pointer!" << std::endl;
+      AINFO << "index: " << index << " is a nullptr pointer!";
       continue;
     }
     LosslessMapMatrix& lossless_matrix =

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

@@ -16,6 +16,7 @@
 
 #include <fstream>
 
+#include "cyber/common/log.h"
 #include "modules/localization/msf/common/io/velodyne_utility.h"
 #include "modules/localization/msf/local_tool/map_creation/poses_interpolation/poses_interpolation.h"
 
@@ -35,7 +36,7 @@ bool PosesInterpolation::Init(const std::string &input_poses_path,
 
   bool success = velodyne::LoadExtrinsic(extrinsic_path_, &velodyne_extrinsic_);
   if (!success) {
-    std::cerr << "Load lidar extrinsic failed." << std::endl;
+    AERROR << "Load lidar extrinsic failed.";
     return false;
   }
 
@@ -72,7 +73,7 @@ void PosesInterpolation::LoadPCDTimestamp() {
     }
     fclose(file);
   } else {
-    std::cerr << "Can't open file to read: " << ref_timestamps_path_;
+    AINFO << "Can't open file to read: " << ref_timestamps_path_;
   }
 }
 
@@ -101,7 +102,7 @@ void PosesInterpolation::WritePCDPoses() {
 
     fout.close();
   } else {
-    std::cerr << "Can't open file to write: " << out_poses_path_ << std::endl;
+    AERROR << "Can't open file to write: " << out_poses_path_ << std::endl;
   }
 }  // namespace msf
 
@@ -156,10 +157,10 @@ void PosesInterpolation::PoseInterpolationByTime(
         out_timestamps->push_back(ref_timestamp);
       }
     } else {
-      std::cerr << "[ERROR] No more poses. Exit now." << std::endl;
+      AWARN << "[WARN] No more poses. Exit now.";
       break;
     }
-    std::cout << "Frame_id: " << i << std::endl;
+    AINFO << "Frame_id: " << i;
   }
 }
 

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

@@ -16,6 +16,7 @@
 
 #include <boost/program_options.hpp>
 
+#include "cyber/common/log.h"
 #include "modules/localization/msf/local_tool/map_creation/poses_interpolation/poses_interpolation.h"
 
 int main(int argc, char **argv) {
@@ -40,7 +41,7 @@ int main(int argc, char **argv) {
       !boost_args.count("ref_timestamps_path") ||
       !boost_args.count("extrinsic_path") ||
       !boost_args.count("output_poses_path")) {
-    std::cout << boost_desc << std::endl;
+    AERROR << boost_desc;
     return 0;
   }