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duyanlong1218 · Aug 2, 2018 · f690292 · f690292
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commit f690292
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diff --git a/aslam_cv/aslam_cameras/include/aslam/cameras/DoubleSphereProjection.hpp b/aslam_cv/aslam_cameras/include/aslam/cameras/DoubleSphereProjection.hpp
@@ -166,7 +166,6 @@ class DoubleSphereProjection {
 
   /// \brief is the projection invertible?
   bool isProjectionInvertible() const {
-     /// FIXME @demmeln true? --> where is it used?
     return true;
   }
 

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras
@@ -263,8 +263,6 @@ def main():
             progress = sm.Progress2(numViews); progress.sample()
             for view_id, timestamp in enumerate(timestamps):
 
-                # TODO @demmeln: maybe add option to optimize with all or at least several frames immediately
-
                 #add new batch problem
                 obs_tuple = obsdb.getAllObsAtTimestamp(timestamp)    
                 est_baselines = list()
@@ -335,7 +333,6 @@ def main():
                             corners, reprojs, rerrs = kcc.getReprojectionErrors(calibrator, cidx)        
                             me, se = kcc.getReprojectionErrorStatistics(rerrs)
                             se_threshold = 4.0*se #TODO: find good value 
-                            # FIXME @demmeln: there should be some maximum absolute value for this threshold, at least for the final filtering...
 
                             #select corners to remove
                             cornerRemovalList=list()