Remove more debug logic

Author: oleg-alexandrov

src/asp/Core/BundleAdjustUtils.cc

@@ -804,9 +804,6 @@ void readMatchPairSigmas(std::string const& sigmaFilename,
 
       matchSigmas[key1] = sigma;
       matchSigmas[key2] = sigma;
-
-      std::cout << "--added ind1, ind2, sigma: " << ind1 << " " << ind2
-                << " " << sigma << "\n";
   }
 
   return;

src/asp/IceBridge/nav2cam.cc

@@ -128,20 +128,8 @@ double gps_seconds(std::string const& orthoimage_path){
   std::tm const *time_out = std::localtime(&time_val);
 
   uint64 weekday = time_out->tm_wday; // Sunday is 0
-/*
-  std::cout << "year = " << year << std::endl;
-  std::cout << "month = " << month << std::endl;
-  std::cout << "day = " << day << std::endl;
-  std::cout << "weekday_in = " << time_in.tm_wday << std::endl;
-  std::cout << "weekday_out = " << weekday << std::endl;
-  std::cout << "hour = " << hour << std::endl;
-  std::cout << "min = " << min << std::endl;
-  std::cout << "sec = " << sec << std::endl;
-  std::cout << "fsec = " << fsec << std::endl;
-*/
   uint64 all_seconds = weekday*24*3600 + (uint64)hour*3600 + (uint64)min*60 + (uint64)sec;
   double final_time  = static_cast<double>(all_seconds) + static_cast<double>(fsec)/100.0;
-  //std::cout << "final_time = " << final_time << std::endl;
 
   return final_time; 
 }
@@ -219,29 +207,9 @@ void parse_camera_pose(std::string const& line, Vector3 & xyz, Quat & look, Quat
   // - This is relative to the GCC coordinate frame.
   ned = Quat(datum_wgs84.lonlat_to_ned_matrix(Vector3(lon, lat, alt)));
 
-  //std::cout << "ned matrix " << Quat(ned) << std::endl;
-
   // Get the local rotation matrix at this coordinate.
   look = Quat(get_look_rotation_matrix(-heading, -pitch, -roll, rot_order));
-
-    //std::cout << "--ned " << Quat(ned) << std::endl;
-    //std::cout << "--look is " << Quat(look) << std::endl;
-    //std::cout << "--nedlook is " << Quat(ned*look) << std::endl;
-    //std::cout << "--inv_look *ned is " << inverse(Quat(look))*Quat(ned) << std::endl;
-    
-    //Matrix3x3 rot_mat = look*ned;
-    
-    //std::cout << "rot mat is " << rot_mat << std::endl;
-    
-    //std::cout << "--quat1 " << Quat(look*ned) << std::endl;
-    //std::cout << "--quat " << Quat(ned*look) << std::endl;
-    //std::cout << "--quat3 " << Quat(inverse(ned)*look) << std::endl;
-    //std::cout << "--quat3 " << Quat(inverse(look)*ned) << std::endl;
-    //std::cout << "--quat3 " << Quat(ned*inverse(look)) << std::endl;
-    //std::cout << "--quat3 " << Quat(look*inverse(ned)) << std::endl;
-  
 }
-
 
 struct Options : public vw::GdalWriteOptions {
   std::string nav_file, input_cam, output_folder;
@@ -588,8 +556,6 @@ int main(int argc, char* argv[]) {
       // Get the time boundaries of the current chunk
       interpLoader.get_time_boundaries(start, end);  
 
-      //std::cout << "Time range: " << start << " ---- " << end << std::endl;
-
       // When detecting offsets all we want to do is loop through the nav file.
       if (opt.detect_offset)
         continue;
@@ -641,9 +607,6 @@ int main(int argc, char* argv[]) {
         //vw_out() << "Pitch   = " << pitch   <<" = "<< pitch*180/3.14159<< std::endl;
         //vw_out() << "Heading = " << heading << std::endl;
 
-        //std::cout << "Ortho time  = " << ortho_time << std::endl;
-        //vw_out() << "llh = " << llh_interp << std::endl;
-      
         // Now estimate the rotation information
 
         /*
@@ -736,26 +699,10 @@ int main(int argc, char* argv[]) {
         //Vector3 north(ned_matrix(0,0), ned_matrix(1,0), ned_matrix(2,0));
         //double angle = acos(dot_prod(xDir, north) / (norm_2(north)*norm_2(xDir)));
 
-        //std::cout << "Nav, est, diff, cam: " << heading <<", "<< angle << ", "<< fabs(heading)-angle << ", " << camera_file <<  std::endl;
-
-
-        //std::cout << "gcc = " << gcc_interp << std::endl;
-        //std::cout << "xDir = " << xDir << std::endl;
-        //std::cout << "yDir = " << yDir << std::endl;
-        //std::cout << "zDir = " << zDir << std::endl;
-      
-        //std::cout << std::endl << "Estimate based matrix " << std::endl;
-        //print_matrix(rotation_matrix_gcc);
-      
         // TODO: Clean all this up once we are satisfied with it!
-      
         Matrix3x3 M_roll  = get_rotation_matrix_roll (roll);
         Matrix3x3 M_pitch = get_rotation_matrix_pitch(pitch);
 
-        //std::cout << "M_roll, M_pitch:\n";
-        //print_matrix(M_roll ); std::cout << std::endl;
-        //print_matrix(M_pitch); std::cout << std::endl;
-      
         // Without documentation it is very difficult to determine
         // which of these rotation orders is correct!
         // - Could be neither since the yaw rotation is already baked in.
@@ -764,84 +711,9 @@ int main(int argc, char* argv[]) {
         Matrix3x3 M3 = rotation_matrix_gcc*M_pitch*M_roll; // <-- Best
         //Matrix3x3 M4 = rotation_matrix_gcc*M_roll*M_pitch; // <-- Ok
 
-        //std::cout << "Modified matrices:\n";
-        //print_matrix(M1); std::cout << std::endl;
-        //print_matrix(M2); std::cout << std::endl;
-        //print_matrix(M3); std::cout << std::endl;
-        //print_matrix(M4); std::cout << std::endl;
-
-        //std::string var_path = output_camera_path.string() + "_";
-        //write_output_camera(gcc_interp, rotation_matrix_gcc, opt.input_cam, var_path + "M0.tsai");
-        //write_output_camera(gcc_interp, M1, opt.input_cam, var_path + "M1.tsai");
-        //write_output_camera(gcc_interp, M2, opt.input_cam, var_path + "M2.tsai");
-        //write_output_camera(gcc_interp, M3, opt.input_cam, var_path + "M3.tsai");
-        //write_output_camera(gcc_interp, M4, opt.input_cam, var_path + "batch_06420_06421_2M4.tsai");
-
         write_output_camera(gcc_interp, M3,
                             opt.input_cam, output_camera_path.string());
 
-        //std::cout << std::endl << "NED matrix " << std::endl;
-        //print_matrix(ned_matrix);
-
-        //std::cout << std::endl << "ENU matrix " << std::endl;
-        //std::cout << enu_matrix << std::endl << std::endl;
-        /*
-          double yaw = -3.14159 / 2;
-          Matrix3x3 My90 = get_rotation_matrix_yaw(yaw);
-      
-          for (int p=0; p<0; ++p) {
-          Matrix3x3 rotation_matrix_gcc_2 = get_look_rotation_matrix(heading, pitch, roll, p);
-
-
-          std::cout << std::endl << "Angle based matrix " << p << std::endl;
-          std::cout << ned_matrix * rotation_matrix_gcc_2 << std::endl;
-
-          //std::cout << std::endl << "Angle based matrix 90 1" << p << std::endl;
-          //std::cout << My90*(ned_matrix * rotation_matrix_gcc_2) << std::endl;
-        
-          std::cout << std::endl << "Angle based matrix 90 2 " << p << std::endl;
-          std::cout << (ned_matrix * rotation_matrix_gcc_2)*My90 << std::endl;  
-        
-        
-          std::cout << std::endl << "Angle based matrix ALT" << p << std::endl;
-          std::cout << rotation_matrix_gcc_2*ned_matrix << std::endl;
-        
-          //std::cout << std::endl << "Angle based matrix ALT 90 1" << p << std::endl;
-          //std::cout << My90*(rotation_matrix_gcc_2*ned_matrix) << std::endl;
-        
-          std::cout << std::endl << "Angle based matrix ALT 90 2 " << p << std::endl;
-          std::cout << (rotation_matrix_gcc_2*ned_matrix)*My90 << std::endl;        
-
-          std::cout << "------------\n";
-
-
-          std::cout << std::endl << "Angle based matrix " << p << std::endl;
-          std::cout << enu_matrix * rotation_matrix_gcc_2 << std::endl;
-
-          //std::cout << std::endl << "Angle based matrix 90 1" << p << std::endl;
-          //std::cout << My90*(enu_matrix * rotation_matrix_gcc_2) << std::endl;
-        
-          std::cout << std::endl << "Angle based matrix 90 2" << p << std::endl;
-          std::cout << (enu_matrix * rotation_matrix_gcc_2)*My90 << std::endl;  
-        
-        
-          std::cout << std::endl << "Angle based matrix ALT" << p << std::endl;
-          std::cout << rotation_matrix_gcc_2*enu_matrix << std::endl;
-        
-          //std::cout << std::endl << "Angle based matrix ALT 90 1" << p << std::endl;
-          //std::cout << My90*(rotation_matrix_gcc_2*enu_matrix) << std::endl;
-        
-          std::cout << std::endl << "Angle based matrix ALT 90 2" << p << std::endl;
-          std::cout << (rotation_matrix_gcc_2*enu_matrix)*My90 << std::endl;        
-
-        
-          }
-          std::cout << std::endl << std::endl;
-        */
-        //write_output_camera(gcc_interp, rotation_matrix_gcc,
-        //                    opt.input_cam, output_camera_path.string());
-
-
         // Update progress
         if (file_index % PRINT_INTERVAL == 0)
           vw_out() << file_index << " files processed.\n";

src/asp/Rig/RigRpcDistortion.cc

@@ -367,13 +367,7 @@ void genDistUndistPairs(int num_samples, rig::CameraParameters const& cam_params
   Eigen::Vector2d undist_half_size = cam_params.GetUndistortedHalfSize();
   Eigen::Vector2d optical_offset   = cam_params.GetOpticalOffset();
   Eigen::Vector2d focal_length     = cam_params.GetFocalVector();
-  
-  std::cout << "dist size is " << dist_size.transpose() << std::endl;
-  std::cout << "dist crop size is " << dist_crop_size.transpose() << std::endl;
-  std::cout << "undist size is " << undist_size.transpose() << std::endl;
-  std::cout << "dist half size is " << dist_half_size.transpose() << std::endl;
-  std::cout << "undist half size is " << undist_half_size.transpose() << std::endl;
-  std::cout << "--num samples is " << num_samples << std::endl;
+
   for (int ix = 0; ix < num_samples; ix++) {
     double x = (dist_size[0] - 1.0) * double(ix) / (num_samples - 1.0);
     for (int iy = 0; iy < num_samples; iy++) {
@@ -518,6 +512,7 @@ void fitRpcDist(int rpc_degree, int num_samples, rig::CameraParameters const& ca
   }
 }
 
+// TODO(oalexan1): This needs more work
 void evalRpcDistUndist(int num_samples, rig::CameraParameters const& cam_params,
                        RPCLensDistortion const& rpc) {
 
@@ -528,7 +523,6 @@ void evalRpcDistUndist(int num_samples, rig::CameraParameters const& cam_params,
 
   double max_err = 0.0;
   for (size_t it = 0; it < undist_centered_pixels.size(); it++) {
-    std::cout << "--broken!" << std::endl;
     // Eigen::Vector2d pix = rpc.distort_centered(undist_centered_pixels[it]);
     // Eigen::Vector2d pix2 = rpc.undistort_centered(pix);
     // max_err = std::max(max_err, (undist_centered_pixels[it] - pix2).norm());

src/asp/Sessions/BundleAdjustSession.cc

@@ -55,7 +55,6 @@ void matchesFromMapprojImages(int i, int j,
 
   std::string image1_path  = opt.image_files[i];
   std::string image2_path  = opt.image_files[j];
-  std::cout << "--nw in teset2\n";
   if (boost::filesystem::exists(match_filename)) {
     vw_out() << "Using cached match file: " << match_filename << "\n";
     return;
@@ -241,7 +240,6 @@ void findPairwiseMatches(asp::BaOptions & opt, // will change
         inputs_changed = false;
     }
 
-   std::cout << "--now in test3\n";
     if (!inputs_changed) {
       vw_out() << "\t--> Using cached match file: " << match_file << "\n";
       continue;

src/asp/Tools/orbitviz.cc

@@ -139,7 +139,6 @@ size_t get_files_from_solver_folder(std::string                 const& solver_fo
   std::vector<ip::InterestPoint> ip1, ip2;
   for (size_t m=0; m<num_matches; ++m) {
     vw::ip::read_binary_match_file(solver_folder+ "/"+match_files[m], ip1, ip2);
-    //std::cout << "Read " << ip1.size() << " matches from file " << match_files[m] << std::endl;
     if (ip1.size() < MIN_MATCHES)
       match_files[m] = "";
   }
@@ -149,18 +148,15 @@ size_t get_files_from_solver_folder(std::string                 const& solver_fo
   for (size_t i=0; i<num_images; ++i) {
     matched_cameras[i].clear(); // Start with empty list of matches
     f1 = strip_directory_and_extension(image_files[i]);
-    //std::cout <<"f1 = " << f1 << std::endl;
     for (size_t j=0; j<num_images; ++j) {
       if (i == j) // No self-matching!
         continue;
       f2 = strip_directory_and_extension(image_files[j]);
-      //std::cout <<"- f2 = " << f2 << std::endl;
       for (size_t m=0; m<num_matches; ++m) {
         // If both file names are contained in the match file name,
         //  make a match between image files i and j
         if ( (match_files[m].find(f1) != std::string::npos) && 
              (match_files[m].find(f2) != std::string::npos)   ) {
-          //std::cout <<"= MATCH = " << match_files[m] << std::endl;
           matched_cameras[i].push_back(j);
           match_files[m] = ""; // Clear this name so we don't use the match twice
         }