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removed incorrect prints

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This commit is contained in:
Raphael Maenle
2019-06-11 09:53:43 +02:00
parent 5f6bcd1784
commit 9b4bf12846
3 changed files with 146 additions and 29 deletions
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5
include/msckf_vio/feature.hpp
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@ -329,7 +329,6 @@ void Feature::RhoJacobian(const Eigen::Isometry3d& T_c0_ci,
double& w) const
{
// Compute hi1, hi2, and hi3 as Equation (37).
const double& rho = x;
Eigen::Vector3d h = T_c0_ci.linear()*
@ -1138,10 +1137,6 @@ bool Feature::initializePosition(const CamStateServer& cam_states) {
// Organize camera poses and feature observations properly.
initializeRho(cam_states);
std::cout << "init rho is: " << anchor_rho << std::endl;
std::vector<Eigen::Isometry3d,
Eigen::aligned_allocator<Eigen::Isometry3d> > cam_poses(0);
std::vector<Eigen::Vector2d,

2
include/msckf_vio/msckf_vio.h
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@ -226,6 +226,8 @@ class MsckfVio {
void removeLostFeatures();
void findRedundantCamStates(
std::vector<StateIDType>& rm_cam_state_ids);
void pruneLastCamStateBuffer();
void pruneCamStateBuffer();
// Reset the system online if the uncertainty is too large.
void onlineReset();