Remove a note used function: removeWrongTriangulations

felixchenfy · Apr 30, 2019 · be4110d · be4110d
1 parent 66b4527
commit be4110d
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Showing 3 changed files with 2 additions and 21 deletions.
diff --git a/include/my_geometry/epipolar_geometry.h b/include/my_geometry/epipolar_geometry.h
@@ -42,9 +42,7 @@ void doTriangulation(
     const Mat &R_cam2_to_cam1, const Mat &t_cam2_to_cam1,
     const vector<int> &inliers,
     vector<Point3f> &pts3d_in_cam1); // points real pos in camera1's frame
-void removeWrongTriangulations(
-   vector<int> &inliers, 
-   vector<Point3f> &pts3d_in_cam1);
+
 
 // ---------------- validation ----------------
 double computeEpipolarConsError(

diff --git a/src/epipolar_geometry.cpp b/src/epipolar_geometry.cpp
@@ -214,23 +214,7 @@ void doTriangulation(
     // return
     pts3d_in_cam1 = pts3d_in_world;
 }
-void removeWrongTriangulations(
-    vector<int> &inliers,
-    vector<Point3f> &pts3d_in_cam1)
-{
-    vector<Point3f> pts_good;
-    vector<int> inliers_good;
-    for (int idx : inliers)
-    {
-        if (pts3d_in_cam1[idx].z > 0)
-        {
-            inliers_good.push_back(idx);
-            pts_good.push_back(pts3d_in_cam1[idx]);
-        }
-    }
-    inliers = inliers_good;
-    pts3d_in_cam1 = pts_good;
-}
+
 
 
 double calcErrorSquare(const Point2f &p1, const Point2f &p2)

diff --git a/src/motion_estimation.cpp b/src/motion_estimation.cpp
@@ -107,7 +107,6 @@ int helperEstimatePossibleRelativePosesByEpipolarGeometry(
     {
         vector<Point3f> pts3d_in_cam1;
         doTriangulation(pts_on_np1, pts_on_np2, list_R[i], list_t[i], list_inliers[i], pts3d_in_cam1);
-        // removeWrongTriangulations(list_inliers[i], pts3d_in_cam1);
         sols_pts3d_in_cam1.push_back(pts3d_in_cam1);
     }