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sm/csm/structprior/MeasurementsLikelihood.cpp

@@ -34,7 +34,7 @@ void MeasurementsLikelihood::ComputeAlphaLikelihoods(std::vector<double> x_vecto
 	if (hess.size() != 0)
 		hess.clear();
 		
-	// may be redundant, it's added in case some measurements are pre-discarded or something
+	// may be redundant, it's added in case some measurements are pre-discarded or something (measurements outside the model...)
 	grad.resize(n);
 	hess.resize(n);
 	for (int i=0;i<n;i++)

sm/csm/structprior/Optimizer.cpp

@@ -17,6 +17,15 @@ Optimizer::~Optimizer(void)
 
 }
 
+/*void Optimizer::ScanLevelOptimization()
+{
+	OptimizeAlphas();
+	OptimizeRanges();
+	
+	
+
+}*/
+
 std::vector<double> Optimizer::OptimizeAlphas()
 {
 	std::vector<double> x;

sm/csm/structprior/Optimizer.h

@@ -21,6 +21,8 @@ public:
 	std::vector<double> OptimizeRanges();
 	//std::vector<Pose> OptimizePoses();
 	
+	//void ScanLevelOptimization();
+	
 	std::vector<double> NewtonStep(std::vector<double> xv, double lambda_parameter, double &err);
 
 };