remove debug statements

gtsam/nonlinear/NonlinearFactor.h

@@ -264,13 +264,9 @@ public:
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-    std::cout << "noise model base open " << std::endl;
     ar & boost::serialization::make_nvp("NonlinearFactor",
          boost::serialization::base_object<Base>(*this));
-    std::cout << "noise model itself begin" << std::endl;
     ar & BOOST_SERIALIZATION_NVP(noiseModel_);
-    std::cout << "noise model itself end" << std::endl;
-    std::cout << "noise model base close " << std::endl;
   }
 
 }; // \class NoiseModelFactor
@@ -466,10 +462,8 @@ class NoiseModelFactorN : public NoiseModelFactor {
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
-    std::cout << "checkpoint N open" << std::endl;
     ar& boost::serialization::make_nvp(
         "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
-    std::cout << "checkpoint N close" << std::endl;
   }
 };  // \class NoiseModelFactorN
 
@@ -502,10 +496,8 @@ class NoiseModelFactor1 : public NoiseModelFactorN<VALUE> {
   friend class boost::serialization::access;
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
-    std::cout << "checkpoint a open " << std::endl;
     ar& boost::serialization::make_nvp(
         "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
-    std::cout << "checkpoint a close" << std::endl;
   }
 };  // \class NoiseModelFactor1
 

gtsam/nonlinear/tests/testSerializationNonlinear.cpp

@@ -88,7 +88,6 @@ static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0);
 static Cal3Bundler cal3(1.0, 2.0, 3.0);
 
 TEST (Serialization, TemplatedValues) {
-  std::cout << "templatedValues open" << std::endl;
   EXPECT(equalsObj(pt3));
   GenericValue<Point3> chv1(pt3);
   EXPECT(equalsObj(chv1));
@@ -106,7 +105,6 @@ TEST (Serialization, TemplatedValues) {
   EXPECT(equalsObj(values));
   EXPECT(equalsXML(values));
   EXPECT(equalsBinary(values));
-  std::cout << "templatedValues close" << std::endl;
 }
 
 /**
@@ -117,18 +115,16 @@ TEST (Serialization, TemplatedValues) {
  *  (2) serialized string depends on boost version
  */
 TEST(Serialization, NoiseModelFactor1_backwards_compatibility) {
-  std::cout << "checkpoint: __FILE__, __LINE__" << std::endl;
   PriorFactor<Pose3> factor(
       12345, Pose3(Rot3::RzRyRx(Vector3(1., 2., 3.)), Point3(4., 5., 6.)),
       noiseModel::Unit::Create(6));
 
-  std::cout << "Serialized: \n"
+  // roundtrip (sanity check)
-            << serializeToString(factor) << "\nend serialization" << std::endl;
+  PriorFactor<Pose3> factor_deserialized_str_2 = PriorFactor<Pose3>();
+  roundtrip(factor, factor_deserialized_str_2);
+  EXPECT(assert_equal(factor, factor_deserialized_str_2));
 
-  std::cout << "checkpoint: __FILE__, __LINE__" << std::endl;
+  // Deserialize string
-
-  // String
-  std::cout << "checkpoint: __FILE__, __LINE__" << std::endl;
   std::string serialized_str =
       "22 serialization::archive 15 1 0\n"
       "0 0 0 0 0 0 0 1 0 12345 0 1 6 21 gtsam_noiseModel_Unit 1 0\n"
@@ -147,37 +143,19 @@ TEST(Serialization, NoiseModelFactor1_backwards_compatibility) {
       "4.00000000000000000e+00 5.00000000000000000e+00 "
       "6.00000000000000000e+00\n";
 
-  // // serialized_str = serializeToString(factor);
-  // {
-    std::cout << "roundtrip start" << std::endl;
-    PriorFactor<Pose3> factor_deserialized_str_2 = PriorFactor<Pose3>();
-    roundtrip(factor, factor_deserialized_str_2);
-    EXPECT(assert_equal(factor, factor_deserialized_str_2));
-    std::cout << "roundtrip end" << std::endl;
-  // }
-
   PriorFactor<Pose3> factor_deserialized_str = PriorFactor<Pose3>();
-  std::cout << "checkpoint: " << __FILE__ << ", " << __LINE__ << std::endl;
   deserializeFromString(serialized_str, factor_deserialized_str);
-  std::cout << "checkpoint: " << __FILE__ << ", " << __LINE__ << std::endl;
   EXPECT(assert_equal(factor, factor_deserialized_str));
-  std::cout << "checkpoint: " << __FILE__ << ", " << __LINE__ << std::endl;
 
-  // XML
+  // Deserialize XML
-  std::cout << "checkpoint: " << __FILE__ << ", " << __LINE__ << std::endl;
   PriorFactor<Pose3> factor_deserialized_xml = PriorFactor<Pose3>();
-  std::cout << "checkpoint: " << __FILE__ << ", " << __LINE__ << std::endl;
   deserializeFromXMLFile(GTSAM_SOURCE_TREE_DATASET_DIR
                          "/../../gtsam/nonlinear/tests/priorFactor.xml",
                          factor_deserialized_xml);
-  std::cout << "checkpoint: " << __FILE__ << ", " << __LINE__ << std::endl;
   EXPECT(assert_equal(factor, factor_deserialized_xml));
-  std::cout << "checkpoint: " << __FILE__ << ", " << __LINE__ << std::endl;
 }
 
 TEST(Serialization, ISAM2) {
-  std::cout << "ISAM2 open" << std::endl;
-
   gtsam::ISAM2Params parameters;
   gtsam::ISAM2 solver(parameters);
   gtsam::NonlinearFactorGraph graph;
@@ -229,7 +207,6 @@ TEST(Serialization, ISAM2) {
     EXPECT(false);
   }
   EXPECT(assert_equal(p1, p2));
-  std::cout << "ISAM close" << std::endl;
 }
 
 /* ************************************************************************* */