remove prints

Author: mcm001

src/mrcal-uncertainty.hpp

@@ -302,9 +302,9 @@ Eigen::Matrix<double, 2, Eigen::Dynamic, Eigen::RowMajor> _dq_db_projection_unce
         dq_db.block(0, frame_start, 2, 3) = dq_dframes[frame] / Nboards;
     }
 
-    Eigen::IOFormat CommaFmt(Eigen::StreamPrecision, Eigen::DontAlignCols, ", ", "\n", "", "");
-    std::cout << "dq_db final:\n"
-              << dq_db.format(CommaFmt) << "\n";
+    // Eigen::IOFormat CommaFmt(Eigen::StreamPrecision, Eigen::DontAlignCols, ", ", "\n", "", "");
+    // std::cout << "dq_db final:\n"
+    //           << dq_db.format(CommaFmt) << "\n";
 
     return dq_db;
 }
@@ -343,15 +343,15 @@ double _propagate_calibration_uncertainty(
     // Pack the gradient
     Eigen::Matrix<double, 2, Eigen::Dynamic, Eigen::RowMajor> dF_dbpacked = dF_dbunpacked;
 
-    printf("\ndf_db_unpacked\n");
-    for (int i = 0; i < dF_dbunpacked.rows(); i++)
-    {
-        for (int j = 0; j < dF_dbunpacked.cols(); j++)
-        {
-            printf("%f,", dF_dbpacked(i, j));
-        }
-        printf("\n");
-    }
+    // printf("\ndf_db_unpacked\n");
+    // for (int i = 0; i < dF_dbunpacked.rows(); i++)
+    // {
+    //     for (int j = 0; j < dF_dbunpacked.cols(); j++)
+    //     {
+    //         printf("%f,", dF_dbpacked(i, j));
+    //     }
+    //     printf("\n");
+    // }
 
     // called for each Nstate elements of dF_dbunpacked
     for (int i = 0; i < dF_dbunpacked.rows(); i++)
@@ -364,15 +364,15 @@ double _propagate_calibration_uncertainty(
             problem_selections, &lensmodel);
     }
 
-    printf("\ndf_db_packed\n");
-    for (int i = 0; i < dF_dbpacked.rows(); i++)
-    {
-        for (int j = 0; j < dF_dbpacked.cols(); j++)
-        {
-            printf("%f,", dF_dbpacked(i, j));
-        }
-        printf("\n");
-    }
+    // printf("\ndf_db_packed\n");
+    // for (int i = 0; i < dF_dbpacked.rows(); i++)
+    // {
+    //     for (int j = 0; j < dF_dbpacked.cols(); j++)
+    //     {
+    //         printf("%f,", dF_dbpacked(i, j));
+    //     }
+    //     printf("\n");
+    // }
 
     int Nstate = mrcal_num_states(
         1, 0, rt_ref_frame.size(), 0, 0,
@@ -489,7 +489,7 @@ double _propagate_calibration_uncertainty(
     return worst_direction_stdev(Var_dF) * observed_pixel_uncertainty;
 }
 
-bool projection_uncertainty(mrcal_point3_t pcam,
+double projection_uncertainty(mrcal_point3_t pcam,
                             mrcal_lensmodel_t lensmodel,
                             std::vector<double> intrinsics)
 {
@@ -618,15 +618,17 @@ void compute_uncertainty()
         }
     }
 
-    fmt::print("Unprojected: {}, len={}\n", pcam[pcam.size() - 1], pcam.size());
+    // fmt::print("Unprojected: {}, len={}\n", pcam[pcam.size() - 1], pcam.size());
 
     for (const auto &p : pcam)
     {
-        fmt::print("pcam: {}\n", p);
+        // fmt::print("pcam: {}\n", p);
 
-        projection_uncertainty(
+        double uncertainty = projection_uncertainty(
             p,
             lensmodel,
             intrinsics);
+
+        fmt::print("  uncertainty: {}\n", uncertainty);
     }
 }