From 51f79e0adf6d980394d50f6d7f1c15080f7879b4 Mon Sep 17 00:00:00 2001
From: Yong-Dian Jian <ydjian@gmail.com>
Date: Sat, 24 Mar 2012 00:19:24 +0000
Subject: [PATCH] clean/remove redundant file

---
 gtsam/geometry/SimpleCamera.cpp | 72 -------------------------------
 gtsam/geometry/SimpleCamera.h   | 75 ---------------------------------
 2 files changed, 147 deletions(-)
 delete mode 100644 gtsam/geometry/SimpleCamera.cpp

diff --git a/gtsam/geometry/SimpleCamera.cpp b/gtsam/geometry/SimpleCamera.cpp
deleted file mode 100644
index 31a18ab99..000000000
--- a/gtsam/geometry/SimpleCamera.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-///* ----------------------------------------------------------------------------
-//
-// * GTSAM Copyright 2010, Georgia Tech Research Corporation,
-// * Atlanta, Georgia 30332-0415
-// * All Rights Reserved
-// * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-//
-// * See LICENSE for the license information
-//
-// * -------------------------------------------------------------------------- */
-//
-///**
-// * @file SimpleCamera.cpp
-// * @date Aug 16, 2009
-// * @author dellaert
-// */
-//
-//#include <gtsam/geometry/SimpleCamera.h>
-//#include <gtsam/geometry/CalibratedCamera.h>
-//
-//using namespace std;
-//
-//namespace gtsam {
-//
-//	/* ************************************************************************* */
-//
-//	SimpleCamera::SimpleCamera(const Cal3_S2& K,
-//			const CalibratedCamera& calibrated) :
-//		calibrated_(calibrated), K_(K) {
-//	}
-//
-//	SimpleCamera::SimpleCamera(const Cal3_S2& K, const Pose3& pose) :
-//		calibrated_(pose), K_(K) {
-//	}
-//
-//	SimpleCamera::~SimpleCamera() {
-//	}
-//
-//	pair<Point2, bool> SimpleCamera::projectSafe(const Point3& P) const {
-//		Point3 cameraPoint = calibrated_.pose().transform_to(P);
-//		Point2 intrinsic = CalibratedCamera::project_to_camera(cameraPoint);
-//		Point2 projection = K_.uncalibrate(intrinsic);
-//		return pair<Point2, bool>(projection, cameraPoint.z() > 0);
-//	}
-//
-//	Point2 SimpleCamera::project(const Point3& point,
-//		    boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-//
-//		Point2 intrinsic = calibrated_.project(point, H1, H2);
-//		if (!H1 && !H2)
-//			return K_.uncalibrate(intrinsic);
-//		else {
-//			Matrix D_projection_intrinsic;
-//			Point2 projection = K_.uncalibrate(intrinsic, boost::none, D_projection_intrinsic);
-//			if (H1) *H1 = D_projection_intrinsic * (*H1);
-//			if (H2) *H2 = D_projection_intrinsic * (*H2);
-//			return projection;
-//		}
-//	}
-//
-//	Point3 SimpleCamera::backproject(const Point2& projection, const double scale) const {
-//		Point2 intrinsic = K_.calibrate(projection);
-//		Point3 cameraPoint = CalibratedCamera::backproject_from_camera(intrinsic, scale);
-//		return calibrated_.pose().transform_from(cameraPoint);
-//	}
-//
-//	SimpleCamera SimpleCamera::level(const Cal3_S2& K, const Pose2& pose2, double height) {
-//		return SimpleCamera(K, CalibratedCamera::level(pose2, height));
-//	}
-//
-///* ************************************************************************* */
-//}
diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h
index b6d060192..d3b0cdbdc 100644
--- a/gtsam/geometry/SimpleCamera.h
+++ b/gtsam/geometry/SimpleCamera.h
@@ -24,78 +24,3 @@
 namespace gtsam {
   typedef PinholeCamera<Cal3_S2> SimpleCamera;
 }
-
-//#include <gtsam/geometry/CalibratedCamera.h>
-//#include <gtsam/geometry/Cal3_S2.h>
-//
-//namespace gtsam {
-//
-//	/**
-//	 * A simple camera class with a Cal3_S2 calibration
-//	 * Basically takes a Calibrated camera and adds calibration information
-//	 * to produce measurements in pixels.
-//	 * Not a sublass as a SimpleCamera *is not* a CalibratedCamera.
-//	 */
-//	class SimpleCamera {
-//	private:
-//		CalibratedCamera calibrated_; // Calibrated camera
-//		Cal3_S2 K_; // Calibration
-//
-//	public:
-//		SimpleCamera(const Cal3_S2& K, const CalibratedCamera& calibrated);
-//		SimpleCamera(const Cal3_S2& K, const Pose3& pose);
-//
-//		/** constructor for serialization */
-//		SimpleCamera(){}
-//
-//		virtual ~SimpleCamera();
-//
-//		const Pose3& pose() const {
-//			return calibrated_.pose();
-//		}
-//
-//		const Cal3_S2& calibration() const {
-//			return K_;
-//		}
-//
-//		/**
-//		 * project a 3d point to the camera and also check the depth
-//		 */
-//		std::pair<Point2,bool> projectSafe(const Point3& P) const;
-//
-//		/**
-//		 * backproject a 2d point from the camera up to a given scale
-//		 */
-//		Point3 backproject(const Point2& projection, const double scale) const;
-//
-//		/**
-//		 * Create a level camera at the given 2D pose and height
-//		 * @param pose2 specifies the location and viewing direction
-//		 * (theta 0 = looking in direction of positive X axis)
-//		 */
-//		static SimpleCamera level(const Cal3_S2& K, const Pose2& pose2, double height);
-//
-//		/**
-//		 * This function receives the camera pose and the landmark location and
-//		 * returns the location the point is supposed to appear in the image
-//		 */
-//		Point2 project(const Point3& point,
-//			    boost::optional<Matrix&> H1 = boost::none,
-//			    boost::optional<Matrix&> H2 = boost::none) const;
-//
-//		bool equals(const SimpleCamera& X, double tol=1e-9) const {
-//			return calibrated_.equals(X.calibrated_, tol) && K_.equals(X.K_, tol);
-//		}
-//
-//  private:
-//    /** Serialization function */
-//    friend class boost::serialization::access;
-//    template<class ARCHIVE>
-//    void serialize(ARCHIVE & ar, const unsigned int version) {
-//      ar & BOOST_SERIALIZATION_NVP(calibrated_);
-//      ar & BOOST_SERIALIZATION_NVP(K_);
-//    }
-//
-//	};
-//
-//}