diff --git a/include/publisher_vision.h b/include/publisher_vision.h index 76f09852bcc30f3e14b13fd749c3426602bde8de..bbaaddfbaadf6252f51e698abb18326d98025be7 100644 --- a/include/publisher_vision.h +++ b/include/publisher_vision.h @@ -93,7 +93,6 @@ class PublisherVisionDebug : public Publisher */ void showTracks(cv::Mat _image, const TrackMatrix& _track_matrix, CaptureBasePtr _cap_img, COLORFEATURES _color_of_features, bool _show_track_ID); - Eigen::Vector2d projectLandmarkHp (const LandmarkBasePtr _lmk, const CaptureBasePtr _capture) const; Eigen::Vector2d projectLandmarkHp (const CaptureBasePtr& _capture, const LandmarkBasePtr _lmk); LandmarkBasePtr getAssociatedLandmark(const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr); Eigen::Matrix<double, 3, 4> getProjectionMatrix (const CaptureBasePtr _capture) const; diff --git a/src/publisher_vision.cpp b/src/publisher_vision.cpp index 1b44063c26bfe79e55c36e089fe7e69f1b76837d..1f6bb69f12078756436bdbbb7f5dcf2881a4e578 100644 --- a/src/publisher_vision.cpp +++ b/src/publisher_vision.cpp @@ -353,17 +353,6 @@ Eigen::Matrix<double, 3, 4> PublisherVisionDebug::getProjectionMatrix(const Capt return P; } -// Eigen::Vector2d PublisherVisionDebug::projectLandmarkHp(const LandmarkBasePtr _lmk, const CaptureBasePtr _capture) const -// { -// auto pos = _lmk->getP()->getState(); -// Eigen::Vector3d pixel_position3 = getProjectionMatrix(_capture) * getTcwMatrix(_capture) * pos; - -// Eigen::Vector2d pixel_position; -// pixel_position << pixel_position3(0) / pixel_position3(2), pixel_position3(1) / pixel_position3(2); - -// return pixel_position; -// } - LandmarkBasePtr PublisherVisionDebug::getAssociatedLandmark(const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr) { const auto& track_at_kfs = _track_matrix.trackAtKeyframes(_ftr->trackId()); @@ -423,4 +412,4 @@ void PublisherVisionDebug::showLandmarks(cv::Mat _image, const TrackMatrix& _tra } } -} \ No newline at end of file +}