removed unused debug output

brucexp · Aug 10, 2018 · b652b6e · b652b6e
1 parent 72d51db
commit b652b6e
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diff --git a/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/DoubleSphereProjection.hpp b/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/DoubleSphereProjection.hpp
@@ -100,7 +100,6 @@ bool DoubleSphereProjection<DISTORTION_T>::euclideanToKeypoint(
   Eigen::MatrixBase<DERIVED_K> & outKeypoint = const_cast<Eigen::MatrixBase<
       DERIVED_K> &>(outKeypointConst);
   outKeypoint.derived().resize(2);
-  //    SM_OUT(p.transpose());
 
   const double& x = p[0];
   const double& y = p[1];
@@ -130,22 +129,9 @@ bool DoubleSphereProjection<DISTORTION_T>::euclideanToKeypoint(
 
   outKeypoint[0] = x * norm_inv;
   outKeypoint[1] = y * norm_inv;
-  //std::cout << "normalize\n";
-  //SM_OUT(d);
-  //SM_OUT(rz);
-  //SM_OUT(outKeypoint[0]);
-  //SM_OUT(outKeypoint[1]);
-
-  //_distortion.distort(outKeypoint);
-  //std::cout << "distort\n";
-  //SM_OUT(outKeypoint[0]);
-  //SM_OUT(outKeypoint[1]);
 
   outKeypoint[0] = _fu * outKeypoint[0] + _cu;
   outKeypoint[1] = _fv * outKeypoint[1] + _cv;
-  //std::cout << "project\n";
-  //SM_OUT(outKeypoint[0]);
-  //SM_OUT(outKeypoint[1]);
 
   // Check if keypoint lies on the sensor
   return isValid(outKeypoint);

diff --git a/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/ExtendedUnifiedProjection.hpp b/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/ExtendedUnifiedProjection.hpp
@@ -99,7 +99,6 @@ bool ExtendedUnifiedProjection<DISTORTION_T>::euclideanToKeypoint(
   Eigen::MatrixBase<DERIVED_K> & outKeypoint = const_cast<Eigen::MatrixBase<
       DERIVED_K> &>(outKeypointConst);
   outKeypoint.derived().resize(2);
-  //    SM_OUT(p.transpose());
 
   const double& x = p[0];
   const double& y = p[1];
@@ -121,22 +120,9 @@ bool ExtendedUnifiedProjection<DISTORTION_T>::euclideanToKeypoint(
 
   outKeypoint[0] = x * norm_inv;
   outKeypoint[1] = y * norm_inv;
-  //std::cout << "normalize\n";
-  //SM_OUT(d);
-  //SM_OUT(rz);
-  //SM_OUT(outKeypoint[0]);
-  //SM_OUT(outKeypoint[1]);
-
-  //_distortion.distort(outKeypoint);
-  //std::cout << "distort\n";
-  //SM_OUT(outKeypoint[0]);
-  //SM_OUT(outKeypoint[1]);
 
   outKeypoint[0] = _fu * outKeypoint[0] + _cu;
   outKeypoint[1] = _fv * outKeypoint[1] + _cv;
-  //std::cout << "project\n";
-  //SM_OUT(outKeypoint[0]);
-  //SM_OUT(outKeypoint[1]);
 
   // Check if keypoint lies on the sensor
   return isValid(outKeypoint);