From e788854fe8137e88a8488b62a67ade93a28eef24 Mon Sep 17 00:00:00 2001
From: g-spacewhale <raphael@maenle.net>
Date: Thu, 23 May 2019 09:55:37 +0200
Subject: [PATCH] activated gating test

---
 src/msckf_vio.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/msckf_vio.cpp b/src/msckf_vio.cpp
index 2e8e574..b233848 100644
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -1493,13 +1493,13 @@ void MsckfVio::PhotometricFeatureJacobian(
   */
   H_x = A_null_space.transpose() * H_xi;
   r = A_null_space.transpose() * r_i;
-
+/*
   ofstream myfile;
   myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
   myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x. * r << endl;
   myfile.close();
   cout << "---------- LOGGED -------- " << endl; 
-
+*/
   if(PRINTIMAGES)
   {
     std::cout << "resume playback" << std::endl;
@@ -1758,7 +1758,6 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
 }
 
 bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof) {
-  return true;
   MatrixXd P1 = H * state_server.state_cov * H.transpose();