diff --git a/GPU_version/vio/include/vio/cl_class.h b/GPU_version/vio/include/vio/cl_class.h
index f41b352..bbed7a9 100644
--- a/GPU_version/vio/include/vio/cl_class.h
+++ b/GPU_version/vio/include/vio/cl_class.h
@@ -56,11 +56,8 @@ public:
     int32_t reload(size_t id,T* buf,cl::CommandQueue* queue){
         for(auto&& i:_buffers)if(i.second==id){
             T* Map_buf=(T*)queue->enqueueMapBuffer(i.first.first,CL_TRUE,CL_MAP_WRITE,0,sizeof(T) * i.first.second);
-            std::cout<<"\n reload class L:59,\t";
             memcpy(Map_buf,buf,sizeof(T) * i.first.second);
-             std::cout<<"L:61\t";
             if(queue->enqueueUnmapMemObject(i.first.first,Map_buf)!=CL_SUCCESS)std::cerr<<"Reload buffer on GPU failed"<<'\n';
-            std::cout<<"L:63\n";
         }
         return CL_SUCCESS;
     };
@@ -188,13 +185,9 @@ public:
     }
     template<typename T>
     void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,size_t size/*size*/, T* out){
-        std::cout<<"read GPU line 191\t";
         T* Map_buf=(T*)queue->enqueueMapBuffer(_kernels.at(id1).read(id2).first,CL_TRUE,CL_MAP_READ,0,sizeof(T) * size);
-        std::cout<<"read GPU line 193\t";
         memcpy(out,Map_buf,sizeof(T) * size);
-        std::cout<<"read GPU line 195\t";
         if(queue->enqueueUnmapMemObject(_kernels.at(id1).read(id2).first,Map_buf)!=CL_SUCCESS)std::cerr<<"Read buffer on GPU failed"<<'\n';
-        std::cout<<"read GPU line 197\t";
     }
     void clear_buf();
 private:
diff --git a/GPU_version/vio/src/cl_class.cpp b/GPU_version/vio/src/cl_class.cpp
index c3af6a1..0a0b5a3 100644
--- a/GPU_version/vio/src/cl_class.cpp
+++ b/GPU_version/vio/src/cl_class.cpp
@@ -13,7 +13,7 @@ opencl::opencl(vk::AbstractCamera* cam):cam(cam) {
     std::vector<cl::Device> all_devices;
     for(auto i:all_platforms){
         std::cout << "Find platform number:"<< i.getInfo<CL_PLATFORM_NAME>() << "\n";
-        i.getDevices(CL_DEVICE_TYPE_GPU, &all_devices);
+        i.getDevices(CL_DEVICE_TYPE_CPU, &all_devices);
     }
 
     if (all_devices.size() == 0){
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index 430f051..b9d9b62 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -167,8 +167,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
   new_frame_->T_f_w_=init_f.second;
   new_frame_->Cov_ = init_f.first;
   // sparse image align
-  //SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlign::LevenbergMarquardt, false, false);
-  SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
+  SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlign::LevenbergMarquardt, false, false);
+  //SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
   if(img_align.run(last_frame_, new_frame_)==0)return  RESULT_FAILURE;
   //assert (false);
   reprojector_.reprojectMap(new_frame_, overlap_kfs_);
diff --git a/GPU_version/vio/src/sparse_img_align_gpu.cpp b/GPU_version/vio/src/sparse_img_align_gpu.cpp
index fc5369e..2e5efde 100644
--- a/GPU_version/vio/src/sparse_img_align_gpu.cpp
+++ b/GPU_version/vio/src/sparse_img_align_gpu.cpp
@@ -30,7 +30,6 @@ SparseImgAlignGpu::SparseImgAlignGpu(
   method_ = method;
   verbose_ = verbose;
   eps_ = 1e-10;
-//  data = fopen((std::string(getenv("HOME"))+"/Project/data.txt").c_str(), "w+");
 }
 
 size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
@@ -46,9 +45,6 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
   residual_->reload_buf(1,3,ref_pos);
   cl_float3 features[ref_frame->fts_.size()];
   cl_float2 featue_px[ref_frame->fts_.size()];
- // fprintf(data, "ref_frame:\n %f,%f,%f\n",ref_pos[0],ref_pos[1],ref_pos[2]);
- // fprintf(data, "cur_frame:\n %f,%f,%f\n",cur_pos[0],cur_pos[1],cur_pos[2]);
- // fprintf(data, "camera:\n %f,%f,%f,%f,%f\n features:\n",camera[0],camera[1],camera[2],camera[3],camera[4]);
   feature_counter_ = 0; // is used to compute the index of the cached jacobian
   for(auto it=ref_frame->fts_.begin(); it!=ref_frame->fts_.end();++it){
       if(*it == nullptr)continue;
@@ -59,7 +55,6 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
         features[feature_counter_].z=xyz_ref(2);
         featue_px[feature_counter_].x=(*it)->px(0);
         featue_px[feature_counter_].y=(*it)->px(1);
-       // fprintf(data, "%f,%f,%f,%f,%f\n",xyz_ref(0),xyz_ref(1),xyz_ref(2),(*it)->px(0),(*it)->px(1));
         ++feature_counter_;
   }
   residual_->reload_buf(1,4,features);
@@ -91,31 +86,21 @@ double SparseImgAlignGpu::computeResiduals(
     cl_float3 J[300]={0.0};
     float chi2_[300]={0.0};
     float scale=(float)scale_;
-    std::cerr<<"computeResiduals line: 94,\t";
     residual_->write_buf(1,11,scale);
-    std::cerr<<"96,\t";
     residual_->reload_buf(1,10,chi2_);
-    std::cerr<<"computeResiduals line: 98,\t";
     residual_->reload_buf(1,8,H);
-    std::cerr<<"computeResiduals line: 100,\t";
     residual_->reload_buf(1,9,J);
-    std::cerr<<"computeResiduals line: 102,\t";
     /// TODO GPU compute based on the feature
     residual_->run(1,feature_counter_);
-    std::cerr<<"105,\t";
     float error[300]={0.0};
     float chi[300]={0.0};
     residual_->read(1,10,feature_counter_,chi);
-    std::cerr<<"109,\t";
     residual_->read(1,7,feature_counter_,error);
-    std::cerr<<"111,\t";
     for(int i = 1; i < feature_counter_; ++i){
         error[0] += error[i];
         chi[0] += chi[i];
     }
-    std::cerr<<"116,\t";
     scale_ = error[0]*(1.48f / feature_counter_);
-    std::cerr<<"118\n";
     return chi[0]/(feature_counter_*8);
 }