diff --git a/src/msckf_vio.cpp b/src/msckf_vio.cpp
index b6a65fb..57f1fb7 100644
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -430,7 +430,7 @@ void MsckfVio::imageCallback(
   
   //if(ErrState)
   //{
-    batchTruthProcessing(feature_msg->header.stamp.toSec());
+  //batchTruthProcessing(feature_msg->header.stamp.toSec());
     
     if(GROUNDTRUTH)
     {
@@ -1270,7 +1270,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
 
   dCpij_dGpij = quaternionToRotation(cam_state.orientation);
 
-  //orientation takes camera frame to world frame, we wa
+  //orientation takes camera frame to world frame
   dh_dGpij = dh_dCpij * dCpij_dGpij;
 
   //dh / d X_{pl}