From 2d73946315c258578277ebba900e527467b3053c Mon Sep 17 00:00:00 2001 From: Rishi Desai Date: Thu, 12 Dec 2019 10:49:05 -0600 Subject: [PATCH] UPDATE: code cleanup --- ov_msckf/src/run_serial_msckf.cpp | 25 +------------------------ 1 file changed, 1 insertion(+), 24 deletions(-) diff --git a/ov_msckf/src/run_serial_msckf.cpp b/ov_msckf/src/run_serial_msckf.cpp index 691b940fa..3b34d4bb7 100644 --- 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(); }