clean/remove redundant file
Yong-Dian Jian
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///* ----------------------------------------------------------------------------
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//
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// * GTSAM Copyright 2010, Georgia Tech Research Corporation,
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// * Atlanta, Georgia 30332-0415
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// * All Rights Reserved
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// * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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//
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// * See LICENSE for the license information
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//
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// * -------------------------------------------------------------------------- */
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//
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///**
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// * @file SimpleCamera.cpp
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// * @date Aug 16, 2009
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// * @author dellaert
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// */
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//
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//#include <gtsam/geometry/SimpleCamera.h>
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//#include <gtsam/geometry/CalibratedCamera.h>
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//
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//using namespace std;
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//
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//namespace gtsam {
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//
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// /* ************************************************************************* */
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//
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// SimpleCamera::SimpleCamera(const Cal3_S2& K,
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// const CalibratedCamera& calibrated) :
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// calibrated_(calibrated), K_(K) {
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// }
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//
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// SimpleCamera::SimpleCamera(const Cal3_S2& K, const Pose3& pose) :
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// calibrated_(pose), K_(K) {
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// }
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//
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// SimpleCamera::~SimpleCamera() {
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// }
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//
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// pair<Point2, bool> SimpleCamera::projectSafe(const Point3& P) const {
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// Point3 cameraPoint = calibrated_.pose().transform_to(P);
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// Point2 intrinsic = CalibratedCamera::project_to_camera(cameraPoint);
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// Point2 projection = K_.uncalibrate(intrinsic);
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// return pair<Point2, bool>(projection, cameraPoint.z() > 0);
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// }
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//
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// Point2 SimpleCamera::project(const Point3& point,
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// boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
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//
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// Point2 intrinsic = calibrated_.project(point, H1, H2);
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// if (!H1 && !H2)
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// return K_.uncalibrate(intrinsic);
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// else {
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// Matrix D_projection_intrinsic;
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// Point2 projection = K_.uncalibrate(intrinsic, boost::none, D_projection_intrinsic);
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// if (H1) *H1 = D_projection_intrinsic * (*H1);
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// if (H2) *H2 = D_projection_intrinsic * (*H2);
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// return projection;
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// }
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// }
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//
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// Point3 SimpleCamera::backproject(const Point2& projection, const double scale) const {
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// Point2 intrinsic = K_.calibrate(projection);
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// Point3 cameraPoint = CalibratedCamera::backproject_from_camera(intrinsic, scale);
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// return calibrated_.pose().transform_from(cameraPoint);
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// }
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//
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// SimpleCamera SimpleCamera::level(const Cal3_S2& K, const Pose2& pose2, double height) {
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// return SimpleCamera(K, CalibratedCamera::level(pose2, height));
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// }
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//
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///* ************************************************************************* */
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//}
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@ -24,78 +24,3 @@
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namespace gtsam {
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typedef PinholeCamera<Cal3_S2> SimpleCamera;
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}
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//#include <gtsam/geometry/CalibratedCamera.h>
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//#include <gtsam/geometry/Cal3_S2.h>
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//
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//namespace gtsam {
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//
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// /**
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// * A simple camera class with a Cal3_S2 calibration
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// * Basically takes a Calibrated camera and adds calibration information
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// * to produce measurements in pixels.
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// * Not a sublass as a SimpleCamera *is not* a CalibratedCamera.
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// */
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// class SimpleCamera {
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// private:
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// CalibratedCamera calibrated_; // Calibrated camera
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// Cal3_S2 K_; // Calibration
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//
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// public:
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// SimpleCamera(const Cal3_S2& K, const CalibratedCamera& calibrated);
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// SimpleCamera(const Cal3_S2& K, const Pose3& pose);
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//
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// /** constructor for serialization */
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// SimpleCamera(){}
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//
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// virtual ~SimpleCamera();
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//
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// const Pose3& pose() const {
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// return calibrated_.pose();
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// }
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//
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// const Cal3_S2& calibration() const {
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// return K_;
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// }
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//
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// /**
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// * project a 3d point to the camera and also check the depth
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// */
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// std::pair<Point2,bool> projectSafe(const Point3& P) const;
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//
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// /**
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// * backproject a 2d point from the camera up to a given scale
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// */
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// Point3 backproject(const Point2& projection, const double scale) const;
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//
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// /**
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// * Create a level camera at the given 2D pose and height
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// * @param pose2 specifies the location and viewing direction
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// * (theta 0 = looking in direction of positive X axis)
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// */
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// static SimpleCamera level(const Cal3_S2& K, const Pose2& pose2, double height);
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//
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// /**
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// * This function receives the camera pose and the landmark location and
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// * returns the location the point is supposed to appear in the image
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// */
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// Point2 project(const Point3& point,
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// boost::optional<Matrix&> H1 = boost::none,
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// boost::optional<Matrix&> H2 = boost::none) const;
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//
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// bool equals(const SimpleCamera& X, double tol=1e-9) const {
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// return calibrated_.equals(X.calibrated_, tol) && K_.equals(X.K_, tol);
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// }
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//
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// private:
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// /** Serialization function */
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// friend class boost::serialization::access;
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// template<class ARCHIVE>
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// void serialize(ARCHIVE & ar, const unsigned int version) {
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// ar & BOOST_SERIALIZATION_NVP(calibrated_);
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// ar & BOOST_SERIALIZATION_NVP(K_);
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// }
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//
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// };
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//
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//}
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