upated two calculation, still not working

src/msckf_vio.cpp

@@ -405,7 +405,7 @@ void MsckfVio::imageCallback(
     const sensor_msgs::ImageConstPtr& cam1_img,
     const CameraMeasurementConstPtr& feature_msg)
 {
-   // stop playing bagfile if printing images
+  // stop playing bagfile if printing images
   if(STREAMPAUSE)
     nh.setParam("/play_bag", false);
   // Return if the gravity vector has not been set.
@@ -1454,6 +1454,7 @@ void MsckfVio::twodotFeatureJacobian(
     std::cout << "resume playback" << std::endl;
     nh.setParam("/play_bag", true);
   }
+
   return;
 }
 
@@ -2341,7 +2342,9 @@ void MsckfVio::removeLostFeatures() {
     cout << "measuring" << endl;
 
     PhotometricFeatureJacobian(feature.id, cam_state_ids, pH_xj, pr_j);
+    cout << "norm" << endl;
     featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
+    cout << "two" << endl;
     twodotFeatureJacobian(feature.id, cam_state_ids, twoH_xj, twor_j);
 
     cout << "gating" << endl;