commented visu parts cleanly

include/msckf_vio/feature.hpp

@@ -403,7 +403,7 @@ bool Feature::FrameIrradiance(
                   std::vector<float>& anchorPatch_measurement) const
 {
 
-  // visu
+  // visu - feature
   /*cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image;
   cv::Mat dottedFrame(current_image.size(), CV_8UC3);
   cv::cvtColor(current_image, dottedFrame, CV_GRAY2RGB);
@@ -415,7 +415,7 @@ bool Feature::FrameIrradiance(
 
     cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam0, point);
 
-    // visu
+    // visu - feature
     /*cv::Point xs(p_in_c0.x, p_in_c0.y);
     cv::Point ys(p_in_c0.x, p_in_c0.y);
     cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0));
@@ -430,7 +430,7 @@ bool Feature::FrameIrradiance(
     
   }
 
-  //visu
+  // visu - feature
   //cv::resize(dottedFrame, dottedFrame, cv::Size(dottedFrame.cols*0.2, dottedFrame.rows*0.2));
   /*if(cam0.featureVisu.empty())
     cam0.featureVisu = dottedFrame.clone();

src/msckf_vio.cpp

@@ -977,7 +977,7 @@ 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));
 
-  // visu
+  // visu -residual
   //printf("-----\n");
 
   //estimate photometric measurement
@@ -989,7 +989,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
   for(int i = 0; i < photo_z.size(); i++)
     photo_r.push_back(photo_z[i] - estimate_photo_z[i]);
 
-  // visu
+  // visu- residual
   //for(int i = 0; i < photo_z.size(); i++)
   //  printf("%.4f = %.4f - %.4f\n",photo_r[i], photo_z[i], estimate_photo_z[i]);
 
@@ -1024,11 +1024,11 @@ void MsckfVio::PhotometricFeatureJacobian(
   int stack_cntr = 0;
 
 
-  // visu
-  /*
-  printf("_____FEATURE:_____\n");
-  cam0.featureVisu.release();
-  */
+  // visu - residual
+  //printf("_____FEATURE:_____\n");
+  // visu - feature
+  //cam0.featureVisu.release();
+
   for (const auto& cam_id : valid_cam_state_ids) {
 
     Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero();
@@ -1046,7 +1046,7 @@ void MsckfVio::PhotometricFeatureJacobian(
     r_j.segment<4>(stack_cntr) = r_i;
     stack_cntr += 4;
   }
-  // visu
+  // visu - feature
   /*
   if(!cam0.featureVisu.empty() && cam0.featureVisu.size().width > 3000)
     imshow("feature", cam0.featureVisu);