remove sparsity debugs

Author: mcm001

src/mrcal-uncertainty.cpp

@@ -549,17 +549,17 @@ std::vector<mrcal_point3_t> compute_uncertainty(
       calobjectSize.width, calobjectSize.height, calobjectSpacing, imagerSize,
       warp);
 
-#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
-  slp::Spy<double> spy_J_observations(
-      "J_observations.spy", "J_observations Matrix", "Measurements", "State",
-      context.Nmeasurements_boards, context.Nstate);
-  spy_J_observations.add(context.J_observations);
-
-  auto JtJ = context.J_observations.transpose() * context.J_observations;
-  slp::Spy<double> spy_JtJ("JtJ.spy", "JtJ Matrix (Normal Equations)", "State",
-                           "State", context.Nstate, context.Nstate);
-  spy_JtJ.add(JtJ);
-#endif
+// #ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
+//   slp::Spy<double> spy_J_observations(
+//       "J_observations.spy", "J_observations Matrix", "Measurements", "State",
+//       context.Nmeasurements_boards, context.Nstate);
+//   spy_J_observations.add(context.J_observations);
+
+//   auto JtJ = context.J_observations.transpose() * context.J_observations;
+//   slp::Spy<double> spy_JtJ("JtJ.spy", "JtJ Matrix (Normal Equations)", "State",
+//                            "State", context.Nstate, context.Nstate);
+//   spy_JtJ.add(JtJ);
+// #endif
 
   // hard code some stuff
   auto q = sample_imager(sampleResolution, imagerSize);
@@ -605,22 +605,22 @@ std::vector<mrcal_point3_t> compute_uncertainty(
 
     ret.push_back(mrcal_point3_t{qi.x, qi.y, uncertainty});
 
-#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
-    if (i < 5) {
-      int istate_frames0 = mrcal_state_index_frames(
-          0, 1, 0, 6, 0, 0, 6, problem_selections, &lensmodel);
-
-      auto dq_db = _dq_db_projection_uncertainty(pi, lensmodel, rt_ref_frames,
-                                                 context.Nstate, istate_frames0,
-                                                 intrinsics);
-
-      Eigen::SparseMatrix<double> dq_db_sparse = dq_db.sparseView();
-      slp::Spy<double> spy_gradient(fmt::format("gradient_{}.spy", i),
-                                    fmt::format("Gradient dq_db Point {}", i),
-                                    "Output", "State", 2, context.Nstate);
-      spy_gradient.add(dq_db_sparse);
-    }
-#endif
+// #ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
+//     if (i < 5) {
+//       int istate_frames0 = mrcal_state_index_frames(
+//           0, 1, 0, 6, 0, 0, 6, problem_selections, &lensmodel);
+
+//       auto dq_db = _dq_db_projection_uncertainty(pi, lensmodel, rt_ref_frames,
+//                                                  context.Nstate, istate_frames0,
+//                                                  intrinsics);
+
+//       Eigen::SparseMatrix<double> dq_db_sparse = dq_db.sparseView();
+//       slp::Spy<double> spy_gradient(fmt::format("gradient_{}.spy", i),
+//                                     fmt::format("Gradient dq_db Point {}", i),
+//                                     "Output", "State", 2, context.Nstate);
+//       spy_gradient.add(dq_db_sparse);
+//     }
+// #endif
   }
 
   return ret;