From 27568a8c9cbfbcce5c72b23c500ca4b0eff6d60d Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 13 Aug 2025 13:41:42 -0700 Subject: [PATCH] cleanup --- rtabmap_odom/src/nodelets/rgbd_odometry.cpp | 3 +-- rtabmap_odom/src/nodelets/stereo_odometry.cpp | 4 ---- 2 files changed, 1 insertion(+), 6 deletions(-) diff --git a/rtabmap_odom/src/nodelets/rgbd_odometry.cpp b/rtabmap_odom/src/nodelets/rgbd_odometry.cpp index 4fd1517f..1ed841b9 100644 --- a/rtabmap_odom/src/nodelets/rgbd_odometry.cpp +++ b/rtabmap_odom/src/nodelets/rgbd_odometry.cpp @@ -555,8 +555,7 @@ private: if(ptrDepth->image.type() == depth.type()) { - //if(i < 4) - ptrDepth->image.copyTo(cv::Mat(depth, cv::Rect(i*depthWidth, 0, depthWidth, depthHeight))); + ptrDepth->image.copyTo(cv::Mat(depth, cv::Rect(i*depthWidth, 0, depthWidth, depthHeight))); } else { diff --git a/rtabmap_odom/src/nodelets/stereo_odometry.cpp b/rtabmap_odom/src/nodelets/stereo_odometry.cpp index 6890b8f3..c85b44d1 100644 --- a/rtabmap_odom/src/nodelets/stereo_odometry.cpp +++ b/rtabmap_odom/src/nodelets/stereo_odometry.cpp @@ -556,8 +556,6 @@ private: rtabmap::StereoCameraModel stereoModel = rtabmap_conversions::stereoCameraModelFromROS(leftCameraInfos[i], rightCameraInfos[i], localTransform, stereoTransform); - std::cout << i << " " << stereoModel << std::endl; - if( stereoModel.baseline() == 0 && alreadyRectified && !rightCameraInfos[i].header.frame_id.empty() && @@ -590,8 +588,6 @@ private: stereoTransform.x(), stereoModel.localTransform(), stereoModel.left().imageSize()); - - std::cout << i << " B " << stereoModel << std::endl; } }