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aruco_pose: Remove unused code

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This commit is contained in:
Alexey Rogachevskiy
2020-10-18 18:48:58 +03:00
parent e1643a681a
commit 62069ab80a
1 changed files with 0 additions and 47 deletions
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47
aruco_pose/src/draw.cpp
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@@ -8,22 +8,6 @@
using namespace cv;
using namespace cv::aruco;
/**
* Project points to camera view, preserving their Z coordinate.
*
* @param points Source points in 3D space, in world coordinates.
* @param rvec Rodrigues rotation vector from world to camera frame.
* @param tvec Translation vector from world to camera frame.
* @param cameraMatrix Camera intrinsic matrix.
* @param distCoeffs Distortion coefficients, if any.
* @return Projected point coordinates in camera frame.
*/
static std::vector<Point3f> projectPoints3D(const std::vector<Point3f>& points,
const cv::Mat& rvec, const cv::Mat& tvec,
const cv::Mat& cameraMatrix,
const cv::Mat& distCoeffs);
void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
int borderBits, bool drawAxis) {
@@ -333,37 +317,6 @@ static std::vector<Point3f> lineClip(Point3f p1, Point3f p2, float clipPlaneDist
// Unreachable?
}
/* Draw a (potentially partially visible) line. */
static void linePartial(InputOutputArray image, Point3f p1, Point3f p2, const Scalar& color,
int thickness = 1, int lineType = LINE_8, int shift = 0)
{
// If both points are behind the screen, don't draw anything
if (p1.z <= 0 && p2.z <= 0) {
return;
}
Point2f p1p{p1.x, p1.y};
Point2f p2p{p2.x, p2.y};
// If points are on the different sides of the plane, compute intersection point
if (p1.z * p2.z < 0) {
// Compute intersection point with the screen
// We denote alpha as such:
// xi = (1 - alpha) * x1 + alpha * x2
// yi = (1 - alpha) * y1 + alpha * y2
// zi = (1 - alpha) * z1 + alpha * z2 = 0
// Thus, alpha can be expressed as
// alpha = z1 / (z1 - z2)
float alpha = p1.z / (p1.z - p2.z);
Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
if (p1.z < 0) {
p1p = pi;
} else {
p2p = pi;
}
}
line(image, p1p, p2p, color, thickness, lineType, shift);
}
void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
InputArray _rvec, InputArray _tvec, float length) {