From 1c3ff0580be37ec609e8aa9230bc5b2e02ab963b Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Fri, 23 Jul 2021 00:03:41 -0400
Subject: [PATCH] removed printout, solved CI issue

---
 .../slam/SmartProjectionPoseFactorRollingShutter.h        | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
index c5b63250b..b9b43bc18 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@@ -368,8 +368,10 @@ PinholePose<CALIBRATION> > {
    */
   typename Base::Cameras cameras(const Values& values) const override {
     size_t numViews = this->measured_.size();
-    assert(world_P_body_keys_.size() == K_all_.size());
-    assert(world_P_body_keys_.size() == body_P_cam_keys_.size());
+    assert(numViews == K_all_.size());
+    assert(numViews == gammas_.size());
+    assert(numViews == body_P_sensors_.size());
+    assert(numViews == world_P_body_key_pairs_.size());
 
     typename Base::Cameras cameras;
     for (size_t i = 0; i < numViews; i++) {  // for each measurement
@@ -379,8 +381,6 @@ PinholePose<CALIBRATION> > {
       Pose3 w_P_body = interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor);
       Pose3 body_P_cam = body_P_sensors_[i];
       Pose3 w_P_cam = w_P_body.compose(body_P_cam);
-      std::cout << "id : " << i << std::endl;
-      w_P_cam.print("w_P_cam\n");
       cameras.emplace_back(w_P_cam, K_all_[i]);
     }
     return cameras;