diff --git a/aruco_pose/src/draw.cpp b/aruco_pose/src/draw.cpp
index dfb155a2..d8e7b021 100644
--- a/aruco_pose/src/draw.cpp
+++ b/aruco_pose/src/draw.cpp
@@ -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) {