UPDATE: code cleanup

ILLIXR · Dec 12, 2019 · 2d73946 · 2d73946
1 parent 157d32f
commit 2d73946
Showing 1 changed file with 1 addition and 24 deletions.
diff --git a/ov_msckf/src/run_serial_msckf.cpp b/ov_msckf/src/run_serial_msckf.cpp
@@ -134,7 +134,7 @@ int main(int argc, char** argv) {
 	load_images(cam0_filename, cam0_images, cam0_timestamps);
 	load_images(cam1_filename, cam1_images, cam1_timestamps);
 	load_imu_data(imu0_filename, imu0_vals, imu0_timestamps);
-	//cout << "WTF2" << endl;
+
 
 	cout << "cam0 images: " << cam0_images.size() << "  cam1 images: " << cam1_images.size() << "  imu0 data: " << imu0_vals.size() << endl;
 	if (cam0_images.size() != cam1_images.size()) {
@@ -197,8 +197,6 @@ int main(int argc, char** argv) {
 				return 1;
 			}
 
-			//cout << "img0 Height: " << img0.rows << "   Width: " << img0.cols << endl;
-
 			// Save to our temp variable
             has_left = true;
 			time = timem/1000000000.0;
@@ -306,27 +304,6 @@ int main(int argc, char** argv) {
             output_file << i << " " << tracker_times[i] << " " << filter_times[i] << " " << total_times[i] << endl;
         }
 
-        //output_file << "Tracker,";
-        //auto tracker_times = sys->get_tracker_times();
-        //for (auto &time : tracker_times) {
-        //    output_file << time << ",";
-        //}
-        //output_file << std::endl;
-
-        //output_file << "Filter,";
-        //auto filter_times = sys->get_filter_times();
-        //for (auto &time : filter_times) {
-        //    output_file << time << ",";
-        //}
-        //output_file << std::endl;
-
-        //output_file << "Total,";
-        //auto total_times = sys->get_total_times();
-        //for (auto &time : total_times) {
-        //    output_file << time << ",";
-        //}
-        //output_file << std::endl;
-
         output_file.close();
     }