From 316ce41a22fb8f36d2d90e2b126e32773278525f Mon Sep 17 00:00:00 2001 From: Luca Date: Wed, 3 Sep 2014 15:31:30 -0400 Subject: [PATCH] removed comments --- gtsam/slam/InitializePose3.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/gtsam/slam/InitializePose3.cpp b/gtsam/slam/InitializePose3.cpp index c9eff0536..af3e24da0 100644 --- a/gtsam/slam/InitializePose3.cpp +++ b/gtsam/slam/InitializePose3.cpp @@ -188,8 +188,8 @@ Values computeOrientationsGradient(const NonlinearFactorGraph& pose3Graph, const for(size_t it=0; it < maxIter; it++){ ////////////////////////////////////////////////////////////////////////// // compute the gradient at each node - std::cout << "it " << it <<" b " << b <<" f0 " << f0 <<" a " << a - <<" rho " << rho <<" stepsize " << stepsize << " maxNodeDeg "<< maxNodeDeg << std::endl; + //std::cout << "it " << it <<" b " << b <<" f0 " << f0 <<" a " << a + // <<" rho " << rho <<" stepsize " << stepsize << " maxNodeDeg "<< maxNodeDeg << std::endl; double maxGrad = 0; BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, inverseRot) { Key key = key_value.key; @@ -216,7 +216,7 @@ Values computeOrientationsGradient(const NonlinearFactorGraph& pose3Graph, const grad.at(key) = stepsize * gradKey; double normGradKey = (gradKey).norm(); - std::cout << "key " << DefaultKeyFormatter(key) <<" \n grad \n" << grad.at(key) << std::endl; + //std::cout << "key " << DefaultKeyFormatter(key) <<" \n grad \n" << grad.at(key) << std::endl; if(normGradKey>maxGrad) maxGrad = normGradKey; } // end of loop over nodes @@ -225,8 +225,6 @@ Values computeOrientationsGradient(const NonlinearFactorGraph& pose3Graph, const // update estimates inverseRot = inverseRot.retract(grad); - inverseRot.print("inverseRot \n"); - ////////////////////////////////////////////////////////////////////////// // check stopping condition if (it>20 && maxGrad < 5e-3)