removed visu as result works so to not clutter the output

src/msckf_vio.cpp

@@ -977,7 +977,8 @@ void MsckfVio::PhotometricMeasurementJacobian(
   r = z - Vector4d(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2),
       p_c1(0)/p_c1(2), p_c1(1)/p_c1(2));
 
-  printf("-----\n");
+  // visu
+  //printf("-----\n");
 
   //estimate photometric measurement
   std::vector<float> estimate_photo_z;
@@ -988,9 +989,9 @@ void MsckfVio::PhotometricMeasurementJacobian(
   for(int i = 0; i < photo_z.size(); i++)
     photo_r.push_back(photo_z[i] - estimate_photo_z[i]);
 
-
-  for(int i = 0; i < photo_z.size(); i++)
-    printf("%.4f = %.4f - %.4f\n",photo_r[i], photo_z[i], estimate_photo_z[i]);
+  // visu
+  //for(int i = 0; i < photo_z.size(); i++)
+  //  printf("%.4f = %.4f - %.4f\n",photo_r[i], photo_z[i], estimate_photo_z[i]);
 
   photo_z.clear();
   return;
@@ -1022,9 +1023,12 @@ void MsckfVio::PhotometricFeatureJacobian(
   VectorXd r_j = VectorXd::Zero(jacobian_row_size);
   int stack_cntr = 0;
 
-  printf("_____FEATURE:_____\n");
 
+  // visu
+  /*
+  printf("_____FEATURE:_____\n");
   cam0.featureVisu.release();
+  */
   for (const auto& cam_id : valid_cam_state_ids) {
 
     Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero();
@@ -1042,6 +1046,8 @@ void MsckfVio::PhotometricFeatureJacobian(
     r_j.segment<4>(stack_cntr) = r_i;
     stack_cntr += 4;
   }
+  // visu
+  /*
   if(!cam0.featureVisu.empty() && cam0.featureVisu.size().width > 3000)
     imshow("feature", cam0.featureVisu);
   cvWaitKey(1);
@@ -1053,6 +1059,8 @@ void MsckfVio::PhotometricFeatureJacobian(
     imwrite(ss.str(), cam0.featureVisu);
     image_save_time = ros::Time::now();
   }
+  */
+
   // Project the residual and Jacobians onto the nullspace
   // of H_fj.
   JacobiSVD<MatrixXd> svd_helper(H_fj, ComputeFullU | ComputeThinV);