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Got rid of legacy code

release/4.3a0
dellaert 2015-02-21 09:15:08 +01:00
parent f5581ec652
commit ead8349827
1 changed files with 0 additions and 16 deletions
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16
gtsam/geometry/CalibratedCamera.cpp
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@ -95,13 +95,7 @@ CalibratedCamera CalibratedCamera::Lookat(const Point3& eye,
Point2 CalibratedCamera::project(const Point3& point,
OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint) const {
#ifdef CALIBRATEDCAMERA_CHAIN_RULE
Matrix36 Dpose_;
Matrix3 Dpoint_;
Point3 q = pose_.transform_to(point, Dpose ? Dpose_ : 0, Dpoint ? Dpoint_ : 0);
#else
Point3 q = pose().transform_to(point);
#endif
Point2 intrinsic = project_to_camera(q);
// Check if point is in front of camera
@ -109,15 +103,6 @@ Point2 CalibratedCamera::project(const Point3& point,
throw CheiralityException();
if (Dpose || Dpoint) {
#ifdef CALIBRATEDCAMERA_CHAIN_RULE
// just implement chain rule
if(Dpose && Dpoint) {
Matrix23 H;
project_to_camera(q,H);
if (Dpose) *Dpose = H * (*Dpose_);
if (Dpoint) *Dpoint = H * (*Dpoint_);
}
#else
// optimized version, see CalibratedCamera.nb
const double z = q.z(), d = 1.0 / z;
const double u = intrinsic.x(), v = intrinsic.y(), uv = u * v;
@ -132,7 +117,6 @@ Point2 CalibratedCamera::project(const Point3& point,
- v * R(2, 2);
*Dpoint = d * Dpoint_;
}
#endif
}
return intrinsic;
}