diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index 8964df7929c472347ea2144d41b4df7d4b991fea..1eb9bd33853b8201f971060689344d14c0fd1174 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -101,10 +101,6 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
         static std::shared_ptr<classType> emplace(CaptureBasePtr _cpt_ptr, T&&... all);
 
 
-//    protected:
-//
-//        Eigen::MatrixXd computeSqrtUpper(const Eigen::MatrixXd& _M) const;
-
     private:
         void setCapture(CaptureBasePtr _cap_ptr){capture_ptr_ = _cap_ptr;}
         FactorBasePtr addFactor(FactorBasePtr _co_ptr);
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index 68ddcba42276979d2c3017f2b32fb1b4a4b8bbcd..df5d1f1e7aa0f214adab2e0f74dc496623e7cf48 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -134,28 +134,6 @@ void FeatureBase::setProblem(ProblemPtr _problem)
         fac->setProblem(_problem);
 }
 
-//Eigen::MatrixXd FeatureBase::computeSqrtUpper(const Eigen::MatrixXd & _info) const
-//{
-//    // impose symmetry
-//    Eigen::MatrixXd info = _info.selfadjointView<Eigen::Upper>();
-//
-//    // Normal Cholesky factorization
-//    Eigen::LLT<Eigen::MatrixXd> llt_of_info(info);
-//    Eigen::MatrixXd R = llt_of_info.matrixU();
-//
-//    // Good factorization
-//    if (info.isApprox(R.transpose() * R, Constants::EPS))
-//        return R;
-//
-//    // Not good factorization: SelfAdjointEigenSolver
-//    Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> es(info);
-//    Eigen::VectorXd eval = es.eigenvalues().real().cwiseMax(Constants::EPS);
-//
-//    R = eval.cwiseSqrt().asDiagonal() * es.eigenvectors().real().transpose();
-//
-//    return R;
-//}
-
 void FeatureBase::link(CaptureBasePtr _cpt_ptr)
 {
     assert(!is_removing_ && "linking a removed feature");