From 711089b451ea8eae4d93da18f1e6bed5c5fbf30e Mon Sep 17 00:00:00 2001
From: Messier <guhanbin@slightech.com>
Date: Thu, 5 Sep 2019 17:03:02 +0800
Subject: [PATCH] refactor(*): add def:-DOUTPUT to util/base.h

---
 src/mynteye/api/camera_models/equidistant_camera.cc | 9 +++++++--
 src/mynteye/api/camera_models/util/base.h           | 1 +
 src/mynteye/api/processor/rectify_processor.cc      | 4 ++--
 3 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/mynteye/api/camera_models/equidistant_camera.cc b/src/mynteye/api/camera_models/equidistant_camera.cc
index cec6a75..6f5d83a 100644
--- a/src/mynteye/api/camera_models/equidistant_camera.cc
+++ b/src/mynteye/api/camera_models/equidistant_camera.cc
@@ -455,7 +455,6 @@ void EquidistantCamera::initUndistortMap(
 cv::Mat EquidistantCamera::initUndistortRectifyMap(
     cv::Mat &map1, cv::Mat &map2, float fx, float fy, cv::Size imageSize,
     float cx, float cy, cv::Mat rmat) const {
-      std::cout <<"w0";
   if (imageSize == cv::Size(0, 0)) {
     imageSize = cv::Size(mParameters.imageWidth(), mParameters.imageHeight());
   }
@@ -639,7 +638,9 @@ void EquidistantCamera::backprojectSymmetric(
   if (npow >= 9) {
     coeffs(9) = mParameters.k5();
   }
+#ifdef _DOUTPUT
   std::cout << std::endl << std::endl << "coeffs:" << coeffs;
+#endif  
   if (npow == 1) {
     theta = p_u_norm;
   } else {
@@ -649,15 +650,19 @@ void EquidistantCamera::backprojectSymmetric(
     A.setZero();
     A.block(1, 0, npow - 1, npow - 1).setIdentity();
     A.col(npow - 1) = -coeffs.block(0, 0, npow, 1) / coeffs(npow);
-    std::cout << std::endl <<"A:" << A;
 
+#ifdef _DOUTPUT
+    std::cout << std::endl <<"A:" << A;
+#endif
     models::EigenSolver es(A);
     models::Matrix<double> eigval(9, 2);
     eigval = es.eigenvalues();
     // models::EigenSolver es(A);
     // models::MatrixXcd eigval(npow, 2);
     // eigval = es.eigenvalues();
+#ifdef _DOUTPUT
     std::cout << std::endl <<"eigval:" << eigval;
+#endif
     std::vector<double> thetas;
     for (int i = 0; i < eigval.rows(); ++i) {
       if (fabs(eigval(i, 1)) > tol) {   // imag
diff --git a/src/mynteye/api/camera_models/util/base.h b/src/mynteye/api/camera_models/util/base.h
index 8d529aa..d30e70c 100644
--- a/src/mynteye/api/camera_models/util/base.h
+++ b/src/mynteye/api/camera_models/util/base.h
@@ -22,6 +22,7 @@
 
 #include "mynteye/mynteye.h"
 
+// #define _DOUTPUT
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace models {
diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index 230595e..242df4f 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -333,6 +333,7 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
       image_size1, &c_R, &c_t, &c_R1, &c_R2, &c_P1, &c_P2, &T_mul_f,
       &cx1_min_cx2);
 
+#ifdef _DOUTPUT
   std::cout << "K1: " << K1 << std::endl;
   std::cout << "D1: " << D1 << std::endl;
   std::cout << "K2: " << K2 << std::endl;
@@ -343,7 +344,7 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
   std::cout << "R2: " << R2 << std::endl;
   std::cout << "P1: " << P1 << std::endl;
   std::cout << "P2: " << P2 << std::endl;
-
+#endif
   R1 = rectifyrad(R1);
   R2 = rectifyrad(R2);
 
@@ -404,7 +405,6 @@ void RectifyProcessor::InitParams(
     IntrinsicsEquidistant in_left,
     IntrinsicsEquidistant in_right,
     Extrinsics ex_right_to_left) {
-      LOG(INFO) <<"q1";
   calib_model = CalibrationModel::KANNALA_BRANDT;
   in_left.ResizeIntrinsics();
   in_right.ResizeIntrinsics();