delete some test log

jingpang · May 28, 2017 · b871d0e · b871d0e
1 parent daba37b
commit b871d0e
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Showing 3 changed files with 3 additions and 17 deletions.
diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc
@@ -757,15 +757,6 @@ bool LocalMapping::TryInitVIO(void)
                     KeyFrame* pKF = lpKFtoCheck.front();
                     const set<KeyFrame*> sChilds = pKF->GetChilds();
                     cv::Mat Twc = pKF->GetPoseInverse();
-                    const NavState& NS = pKF->GetNavState();
-                    //Debug log
-                    if(pKF->mnBAGlobalForKF==nGBAKF)
-                    {
-                        cv::Mat tTwb1 = Twc*ConfigParam::GetMatT_cb();
-                        if((Converter::toVector3d(tTwb1.rowRange(0,3).col(3))-NS.Get_P()).norm()>1e-6)
-                            cout<<"Twc*Tcb != NavState for GBA KFs, id "<<pKF->mnId<<": "<<tTwb1.rowRange(0,3).col(3).t()<<"/"<<NS.Get_P().transpose()<<endl;
-                    }
-                    else cout<<"pKF->mnBAGlobalForKF != nGBAKF???"<<endl;
                     for(set<KeyFrame*>::const_iterator sit=sChilds.begin();sit!=sChilds.end();sit++)
                     {
                         KeyFrame* pChild = *sit;
@@ -799,11 +790,6 @@ bool LocalMapping::TryInitVIO(void)
 
                     lpKFtoCheck.pop_front();
 
-                    //Test log
-                    cv::Mat tTwb = pKF->GetPoseInverse()*ConfigParam::GetMatT_cb();
-                    Vector3d tPwb = Converter::toVector3d(tTwb.rowRange(0,3).col(3));
-                    if( (tPwb-pKF->GetNavState().Get_P()).norm()>1e-6 )
-                        cerr<<"pKF PoseInverse Pwb != NavState.P ?"<<tPwb.transpose()<<"/"<<pKF->GetNavState().Get_P().transpose()<<endl;
                 }
 
                 // Correct MapPoints

diff --git a/src/Optimizer.cc b/src/Optimizer.cc
@@ -592,7 +592,7 @@ void Optimizer::LocalBAPRVIDP(KeyFrame *pCurKF, const std::list<KeyFrame*> &lLoc
         Vector3d Pref;
         Pref << refXY[0], refXY[1], 1.0;
         double rho = vPoint->estimate();
-        if(rho<1e-4) {cerr<<"rho="<<rho<<". ";rho = 1e-4;}
+        //if(rho<1e-4) {cerr<<"rho="<<rho<<". ";rho = 1e-4;}
 
         Pref *= 1.0/rho;    // point coordinate in reference frame
 

diff --git a/src/Tracking.cc b/src/Tracking.cc
@@ -236,7 +236,7 @@ bool Tracking::TrackLocalMapWithIMU(bool bMapUpdated)
         IMUPreintegrator imupreint = GetIMUPreIntSinceLastKF(&mCurrentFrame, mpLastKeyFrame, mvIMUSinceLastKF);
 
         // Test log
-        if(mpLocalMapper->GetFirstVINSInited() && !bMapUpdated) cerr<<"1-FirstVinsInit, but not bMapUpdated. shouldn't"<<endl;
+        //if(mpLocalMapper->GetFirstVINSInited() && !bMapUpdated) cerr<<"1-FirstVinsInit, but not bMapUpdated. shouldn't"<<endl;
         if(mCurrentFrame.GetNavState().Get_dBias_Acc().norm() > 1e-6) cerr<<"TrackLocalMapWithIMU current Frame dBias acc not zero"<<endl;
         if(mCurrentFrame.GetNavState().Get_dBias_Gyr().norm() > 1e-6) cerr<<"TrackLocalMapWithIMU current Frame dBias gyr not zero"<<endl;
 
@@ -294,7 +294,7 @@ void Tracking::PredictNavStateByIMU(bool bMapUpdated)
     // Map updated, optimize with last KeyFrame
     if(mpLocalMapper->GetFirstVINSInited() || bMapUpdated)
     {
-        if(mpLocalMapper->GetFirstVINSInited() && !bMapUpdated) cerr<<"2-FirstVinsInit, but not bMapUpdated. shouldn't"<<endl;
+        //if(mpLocalMapper->GetFirstVINSInited() && !bMapUpdated) cerr<<"2-FirstVinsInit, but not bMapUpdated. shouldn't"<<endl;
 
         // Compute IMU Pre-integration
         mIMUPreIntInTrack = GetIMUPreIntSinceLastKF(&mCurrentFrame, mpLastKeyFrame, mvIMUSinceLastKF);