MAINT: remove old code.

oddkiva · May 21, 2024 · b42ad5e · b42ad5e
1 parent 3f4449f
commit b42ad5e
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Showing 10 changed files with 14 additions and 867 deletions.
diff --git a/cpp/examples/Sara/MultiViewGeometry/relative_pose_estimation_example.cpp b/cpp/examples/Sara/MultiViewGeometry/relative_pose_estimation_example.cpp
@@ -28,10 +28,7 @@
 #include <DO/Sara/MultiViewGeometry/MinimalSolvers/RelativePoseSolver.hpp>
 #include <DO/Sara/MultiViewGeometry/Miscellaneous.hpp>
 #include <DO/Sara/RANSAC/RANSAC.hpp>
-#include <DO/Sara/SfM/Helpers/EssentialMatrixEstimation.hpp>
-#include <DO/Sara/SfM/Helpers/FundamentalMatrixEstimation.hpp>
-#include <DO/Sara/SfM/Helpers/KeypointMatching.hpp>
-#include <DO/Sara/SfM/Helpers/Triangulation.hpp>
+#include <DO/Sara/SfM/Helpers.hpp>
 
 #include <filesystem>
 

diff --git a/cpp/examples/Sara/MultiViewGeometry/two_view_bundle_adjustment_example.cpp b/cpp/examples/Sara/MultiViewGeometry/two_view_bundle_adjustment_example.cpp
@@ -18,8 +18,6 @@
 #include <DO/Sara/MultiViewGeometry/BundleAdjustmentProblem.hpp>
 #include <DO/Sara/MultiViewGeometry/Miscellaneous.hpp>
 #include <DO/Sara/RANSAC/RANSAC.hpp>
-#include <DO/Sara/SfM/Helpers/EssentialMatrixEstimation.hpp>
-#include <DO/Sara/SfM/Helpers/FundamentalMatrixEstimation.hpp>
 #include <DO/Sara/SfM/Helpers/KeypointMatching.hpp>
 #include <DO/Sara/SfM/Helpers/Triangulation.hpp>
 
@@ -101,33 +99,6 @@ struct ReprojectionError
 };
 
 
-auto map_feature_gid_to_match_gid(const EpipolarEdgeAttributes& epipolar_edges)
-{
-  auto mapping = std::multimap<FeatureGID, MatchGID>{};
-  for (const auto& ij : epipolar_edges.edge_ids)
-  {
-    const auto view_i = epipolar_edges.edges[ij].first;
-    const auto view_j = epipolar_edges.edges[ij].second;
-    const auto& M_ij = epipolar_edges.matches[ij];
-    const auto& E_inliers_ij = epipolar_edges.E_inliers[ij];
-    const auto& two_view_geometry_ij = epipolar_edges.two_view_geometries[ij];
-
-    for (auto m = 0; m < int(M_ij.size()); ++m)
-    {
-      if (E_inliers_ij(m) && two_view_geometry_ij.cheirality(m))
-      {
-        mapping.insert(
-            {FeatureGID{view_i, M_ij[m].x_index()}, MatchGID{ij, m}});
-        mapping.insert(
-            {FeatureGID{view_j, M_ij[m].y_index()}, MatchGID{ij, m}});
-      }
-    }
-  }
-
-  return mapping;
-}
-
-
 GRAPHICS_MAIN()
 {
   auto& logger = Logger::get();

diff --git a/cpp/src/DO/Sara/MultiViewGeometry/BundleAdjustmentProblem.hpp b/cpp/src/DO/Sara/MultiViewGeometry/BundleAdjustmentProblem.hpp
@@ -12,7 +12,6 @@
 #pragma once
 
 #include <DO/Sara/Core/Tensor.hpp>
-#include <DO/Sara/MultiViewGeometry/Graph/FeatureGraph.hpp>
 
 #include <vector>
 
@@ -69,6 +68,7 @@ namespace DO::Sara {
     const T* parameters;
   };
 
+#if 0
   //! @brief Observation reference class.
   struct ObservationRef
   {
@@ -158,10 +158,10 @@ namespace DO::Sara {
         const auto p = match_index.find(*track->begin())->second.m;
         const auto point_p = two_view_geometry.X.col(p);
         points_view.col(t) = point_p.hnormalized();
-#if DEBUG
+#  if DEBUG
         SARA_DEBUG << "Point[" << t << "] = "  //
                    << points_view.col(t).transpose() << std::endl;
-#endif
+#  endif
       }
     }
 
@@ -260,6 +260,7 @@ namespace DO::Sara {
       populate_camera_parameters(two_view_geometry);
     }
   };
+#endif
 
   //! @}