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removed printout, solved CI issue

release/4.3a0
lcarlone 2021-07-23 00:03:41 -04:00
parent 48a7afa463
commit 1c3ff0580b
1 changed files with 4 additions and 4 deletions
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8
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
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@ -368,8 +368,10 @@ PinholePose<CALIBRATION> > {
*/ */
typename Base::Cameras cameras(const Values& values) const override { typename Base::Cameras cameras(const Values& values) const override {
size_t numViews = this->measured_.size(); size_t numViews = this->measured_.size();
assert(world_P_body_keys_.size() == K_all_.size()); assert(numViews == K_all_.size());
assert(world_P_body_keys_.size() == body_P_cam_keys_.size()); assert(numViews == gammas_.size());
assert(numViews == body_P_sensors_.size());
assert(numViews == world_P_body_key_pairs_.size());
typename Base::Cameras cameras; typename Base::Cameras cameras;
for (size_t i = 0; i < numViews; i++) { // for each measurement 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 w_P_body = interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor);
Pose3 body_P_cam = body_P_sensors_[i]; Pose3 body_P_cam = body_P_sensors_[i];
Pose3 w_P_cam = w_P_body.compose(body_P_cam); 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]); cameras.emplace_back(w_P_cam, K_all_[i]);
} }
return cameras; return cameras;