raphael/msckf_vio
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removed constant logging

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Raphael Maenle
2019-06-19 09:29:22 +02:00
parent 49374a4323
commit 6b8dce9876
1 changed files with 2 additions and 1 deletions
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3
src/msckf_vio.cpp
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@@ -1568,6 +1568,7 @@ void MsckfVio::featureJacobian(
H_x = A.transpose() * H_xj; H_x = A.transpose() * H_xj;
r = A.transpose() * r_j; r = A.transpose() * r_j;
/*
ofstream myfile; ofstream myfile;
myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt"); myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.colPivHouseholderQr().solve(r) << endl; myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.colPivHouseholderQr().solve(r) << endl;
@@ -1575,7 +1576,7 @@ void MsckfVio::featureJacobian(
cout << "---------- LOGGED -------- " << endl; cout << "---------- LOGGED -------- " << endl;
nh.setParam("/play_bag", false); nh.setParam("/play_bag", false);
*/
return; return;
} }