From 25ea5d431c421f6a3c29d13c07a9db804933f8e5 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 11 Apr 2022 18:13:17 +0200
Subject: [PATCH] remove old function projectLandmarkHp
---
include/publisher_vision.h | 1 -
src/publisher_vision.cpp | 13 +------------
2 files changed, 1 insertion(+), 13 deletions(-)
diff --git a/include/publisher_vision.h b/include/publisher_vision.h
index 76f0985..bbaaddf 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 1b44063..1f6bb69 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
+}
--
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