Remove useless files and functions

Author: Fabien Servant

src/aliceVision/camera/Equidistant.cpp

@@ -67,203 +67,6 @@ Vec2 Equidistant::project(const Vec4& pt, bool applyDistortion) const
     return pt_ima;
 }
 
-Eigen::Matrix<double, 2, 9> Equidistant::getDerivativeTransformProjectWrtRotation(const Eigen::Matrix4d& pose, const Vec4& pt) const
-{
-    Eigen::Matrix4d T = pose;
-    const Vec4 X = T * pt;  // apply pose
-
-    const Eigen::Matrix<double, 3, 9> d_X_d_R = getJacobian_AB_wrt_A<3, 3, 1>(pose.block<3, 3>(0, 0), pt.head(3));
-
-    /* Compute angle with optical center */
-    double len2d = sqrt(X(0) * X(0) + X(1) * X(1));
-    Eigen::Matrix<double, 2, 2> d_len2d_d_X;
-    d_len2d_d_X(0) = X(0) / len2d;
-    d_len2d_d_X(1) = X(1) / len2d;
-
-    const double angle_Z = std::atan2(len2d, X(2));
-    const double d_angle_Z_d_len2d = X(2) / (len2d * len2d + X(2) * X(2));
-
-    /* Ignore depth component and compute radial angle */
-    const double angle_radial = std::atan2(X(1), X(0));
-
-    Eigen::Matrix<double, 2, 3> d_angles_d_X;
-    d_angles_d_X(0, 0) = -X(1) / (X(0) * X(0) + X(1) * X(1));
-    d_angles_d_X(0, 1) = X(0) / (X(0) * X(0) + X(1) * X(1));
-    d_angles_d_X(0, 2) = 0.0;
-
-    d_angles_d_X(1, 0) = d_angle_Z_d_len2d * d_len2d_d_X(0);
-    d_angles_d_X(1, 1) = d_angle_Z_d_len2d * d_len2d_d_X(1);
-    d_angles_d_X(1, 2) = -len2d / (len2d * len2d + X(2) * X(2));
-
-    const double rsensor = std::min(sensorWidth(), sensorHeight());
-    const double rscale = sensorWidth() / std::max(w(), h());
-    const double fmm = _scale(0) * rscale;
-    const double fov = rsensor / fmm;
-
-    const double radius = angle_Z / (0.5 * fov);
-
-    const double d_radius_d_angle_Z = 1.0 / (0.5 * fov);
-
-    /* radius = focal * angle_Z */
-    const Vec2 P{cos(angle_radial) * radius, sin(angle_radial) * radius};
-
-    Eigen::Matrix<double, 2, 2> d_P_d_angles;
-    d_P_d_angles(0, 0) = -sin(angle_radial) * radius;
-    d_P_d_angles(0, 1) = cos(angle_radial) * d_radius_d_angle_Z;
-    d_P_d_angles(1, 0) = cos(angle_radial) * radius;
-    d_P_d_angles(1, 1) = sin(angle_radial) * d_radius_d_angle_Z;
-
-    return getDerivativeCam2ImaWrtPoint() * getDerivativeAddDistoWrtPt(P) * d_P_d_angles * d_angles_d_X * d_X_d_R;
-}
-
-Eigen::Matrix<double, 2, 16> Equidistant::getDerivativeTransformProjectWrtPose(const Eigen::Matrix4d& pose, const Vec4& pt) const
-{
-    Eigen::Matrix4d T = pose;
-    const Vec4 X = T * pt;  // apply pose
-
-    const Eigen::Matrix<double, 4, 16> d_X_d_T = getJacobian_AB_wrt_A<4, 4, 1>(T, pt);
-
-    /* Compute angle with optical center */
-    double len2d = sqrt(X(0) * X(0) + X(1) * X(1));
-    Eigen::Matrix<double, 2, 2> d_len2d_d_X;
-    d_len2d_d_X(0) = X(0) / len2d;
-    d_len2d_d_X(1) = X(1) / len2d;
-
-    const double angle_Z = std::atan2(len2d, X(2));
-    const double d_angle_Z_d_len2d = X(2) / (len2d * len2d + X(2) * X(2));
-
-    /* Ignore depth component and compute radial angle */
-    const double angle_radial = std::atan2(X(1), X(0));
-
-    Eigen::Matrix<double, 2, 3> d_angles_d_X;
-    d_angles_d_X(0, 0) = -X(1) / (X(0) * X(0) + X(1) * X(1));
-    d_angles_d_X(0, 1) = X(0) / (X(0) * X(0) + X(1) * X(1));
-    d_angles_d_X(0, 2) = 0.0;
-
-    d_angles_d_X(1, 0) = d_angle_Z_d_len2d * d_len2d_d_X(0);
-    d_angles_d_X(1, 1) = d_angle_Z_d_len2d * d_len2d_d_X(1);
-    d_angles_d_X(1, 2) = -len2d / (len2d * len2d + X(2) * X(2));
-
-    const double rsensor = std::min(sensorWidth(), sensorHeight());
-    const double rscale = sensorWidth() / std::max(w(), h());
-    const double fmm = _scale(0) * rscale;
-    const double fov = rsensor / fmm;
-
-    const double radius = angle_Z / (0.5 * fov);
-
-    const double d_radius_d_angle_Z = 1.0 / (0.5 * fov);
-
-    /* radius = focal * angle_Z */
-    const Vec2 P{cos(angle_radial) * radius, sin(angle_radial) * radius};
-
-    Eigen::Matrix<double, 2, 2> d_P_d_angles;
-    d_P_d_angles(0, 0) = -sin(angle_radial) * radius;
-    d_P_d_angles(0, 1) = cos(angle_radial) * d_radius_d_angle_Z;
-    d_P_d_angles(1, 0) = cos(angle_radial) * radius;
-    d_P_d_angles(1, 1) = sin(angle_radial) * d_radius_d_angle_Z;
-
-    return getDerivativeCam2ImaWrtPoint() * getDerivativeAddDistoWrtPt(P) * d_P_d_angles * d_angles_d_X * d_X_d_T.block<3, 16>(0, 0);
-}
-
-Eigen::Matrix<double, 2, 16> Equidistant::getDerivativeTransformProjectWrtPoseLeft(const Eigen::Matrix4d& pose, const Vec4& pt) const
-{
-    Eigen::Matrix4d T = pose;
-    const Vec4 X = T * pt;  // apply pose
-
-    const Eigen::Matrix<double, 4, 16> d_X_d_T = getJacobian_AB_wrt_A<4, 4, 1>(Eigen::Matrix4d::Identity(), X);
-
-    /* Compute angle with optical center */
-    double len2d = sqrt(X(0) * X(0) + X(1) * X(1));
-    Eigen::Matrix<double, 2, 2> d_len2d_d_X;
-    d_len2d_d_X(0) = X(0) / len2d;
-    d_len2d_d_X(1) = X(1) / len2d;
-
-    const double angle_Z = std::atan2(len2d, X(2));
-    const double d_angle_Z_d_len2d = X(2) / (len2d * len2d + X(2) * X(2));
-
-    /* Ignore depth component and compute radial angle */
-    const double angle_radial = std::atan2(X(1), X(0));
-
-    Eigen::Matrix<double, 2, 3> d_angles_d_X;
-    d_angles_d_X(0, 0) = -X(1) / (X(0) * X(0) + X(1) * X(1));
-    d_angles_d_X(0, 1) = X(0) / (X(0) * X(0) + X(1) * X(1));
-    d_angles_d_X(0, 2) = 0.0;
-
-    d_angles_d_X(1, 0) = d_angle_Z_d_len2d * d_len2d_d_X(0);
-    d_angles_d_X(1, 1) = d_angle_Z_d_len2d * d_len2d_d_X(1);
-    d_angles_d_X(1, 2) = -len2d / (len2d * len2d + X(2) * X(2));
-
-    const double rsensor = std::min(sensorWidth(), sensorHeight());
-    const double rscale = sensorWidth() / std::max(w(), h());
-    const double fmm = _scale(0) * rscale;
-    const double fov = rsensor / fmm;
-
-    const double radius = angle_Z / (0.5 * fov);
-
-    const double d_radius_d_angle_Z = 1.0 / (0.5 * fov);
-
-    /* radius = focal * angle_Z */
-    const Vec2 P{cos(angle_radial) * radius, sin(angle_radial) * radius};
-
-    Eigen::Matrix<double, 2, 2> d_P_d_angles;
-    d_P_d_angles(0, 0) = -sin(angle_radial) * radius;
-    d_P_d_angles(0, 1) = cos(angle_radial) * d_radius_d_angle_Z;
-    d_P_d_angles(1, 0) = cos(angle_radial) * radius;
-    d_P_d_angles(1, 1) = sin(angle_radial) * d_radius_d_angle_Z;
-
-    return getDerivativeCam2ImaWrtPoint() * getDerivativeAddDistoWrtPt(P) * d_P_d_angles * d_angles_d_X * d_X_d_T.block<3, 16>(0, 0);
-}
-
-Eigen::Matrix<double, 2, 4> Equidistant::getDerivativeTransformProjectWrtPoint(const Eigen::Matrix4d& pose, const Vec4& pt) const
-{
-    Eigen::Matrix4d T = pose;
-    const Vec4 X = T * pt;  // apply pose
-
-    const Eigen::Matrix4d& d_X_d_pt = T;
-
-    /* Compute angle with optical center */
-    const double len2d = sqrt(X(0) * X(0) + X(1) * X(1));
-    Eigen::Matrix<double, 2, 2> d_len2d_d_X;
-    d_len2d_d_X(0) = X(0) / len2d;
-    d_len2d_d_X(1) = X(1) / len2d;
-
-    const double angle_Z = std::atan2(len2d, X(2));
-    const double d_angle_Z_d_len2d = X(2) / (len2d * len2d + X(2) * X(2));
-
-    /* Ignore depth component and compute radial angle */
-    const double angle_radial = std::atan2(X(1), X(0));
-
-    Eigen::Matrix<double, 2, 4> d_angles_d_X;
-    d_angles_d_X(0, 0) = -X(1) / (X(0) * X(0) + X(1) * X(1));
-    d_angles_d_X(0, 1) = X(0) / (X(0) * X(0) + X(1) * X(1));
-    d_angles_d_X(0, 2) = 0.0;
-    d_angles_d_X(0, 3) = 0.0;
-
-    d_angles_d_X(1, 0) = d_angle_Z_d_len2d * d_len2d_d_X(0);
-    d_angles_d_X(1, 1) = d_angle_Z_d_len2d * d_len2d_d_X(1);
-    d_angles_d_X(1, 2) = -len2d / (len2d * len2d + X(2) * X(2));
-    d_angles_d_X(1, 3) = 0.0;
-
-    const double rsensor = std::min(sensorWidth(), sensorHeight());
-    const double rscale = sensorWidth() / std::max(w(), h());
-    const double fmm = _scale(0) * rscale;
-    const double fov = rsensor / fmm;
-    const double radius = angle_Z / (0.5 * fov);
-
-    double d_radius_d_angle_Z = 1.0 / (0.5 * fov);
-
-    /* radius = focal * angle_Z */
-    const Vec2 P{cos(angle_radial) * radius, sin(angle_radial) * radius};
-
-    Eigen::Matrix<double, 2, 2> d_P_d_angles;
-    d_P_d_angles(0, 0) = -sin(angle_radial) * radius;
-    d_P_d_angles(0, 1) = cos(angle_radial) * d_radius_d_angle_Z;
-    d_P_d_angles(1, 0) = cos(angle_radial) * radius;
-    d_P_d_angles(1, 1) = sin(angle_radial) * d_radius_d_angle_Z;
-
-    return getDerivativeCam2ImaWrtPoint() * getDerivativeAddDistoWrtPt(P) * d_P_d_angles * d_angles_d_X * d_X_d_pt;
-}
-
 Eigen::Matrix<double, 2, 3> Equidistant::getDerivativeTransformProjectWrtPoint3(const Eigen::Matrix4d& T, const Vec4& pt) const
 {
     const Vec4 X = T * pt;  // apply pose

src/aliceVision/camera/Equidistant.hpp

@@ -76,14 +76,6 @@ class Equidistant : public IntrinsicScaleOffsetDisto
 
     Vec2 project(const Vec4& pt, bool applyDistortion = true) const override;
 
-    Eigen::Matrix<double, 2, 9> getDerivativeTransformProjectWrtRotation(const Eigen::Matrix4d& pose, const Vec4& pt) const override;
-
-    Eigen::Matrix<double, 2, 16> getDerivativeTransformProjectWrtPose(const Eigen::Matrix4d& pose, const Vec4& pt) const override;
-
-    Eigen::Matrix<double, 2, 16> getDerivativeTransformProjectWrtPoseLeft(const Eigen::Matrix4d& pose, const Vec4& pt) const override;
-
-    Eigen::Matrix<double, 2, 4> getDerivativeTransformProjectWrtPoint(const Eigen::Matrix4d& pose, const Vec4& pt) const override;
-
     Eigen::Matrix<double, 2, 3> getDerivativeTransformProjectWrtPoint3(const Eigen::Matrix4d& pose, const Vec4& pt) const override;
 
     Eigen::Matrix<double, 2, 3> getDerivativeTransformProjectWrtDisto(const Eigen::Matrix4d& pose, const Vec4& pt) const;

src/aliceVision/camera/IntrinsicBase.hpp

@@ -136,38 +136,7 @@ class IntrinsicBase
 
     Eigen::Matrix<double, 4, 3> getDerivativeCartesianfromSphericalCoordinates(const Vec3& pt);
 
-    /**
-     * @brief Get the derivative of a projection of a 3D point into the camera plane
-     * @param[in] pose The pose
-     * @param[in] pt3D The 3D point
-     * @return The projection jacobian with respect to the pose
-     */
-    virtual Eigen::Matrix<double, 2, 16> getDerivativeTransformProjectWrtPose(const Eigen::Matrix4d& pose, const Vec4& pt3D) const = 0;
-
-    /**
-     * @brief Get the derivative of a projection of a 3D point into the camera plane
-     * @param[in] pose The pose
-     * @param[in] pt3D The 3D point
-     * @return The projection jacobian with respect to the rotation
-     */
-    virtual Eigen::Matrix<double, 2, 9> getDerivativeTransformProjectWrtRotation(const Eigen::Matrix4d& pose, const Vec4& pt) const = 0;
-
-    /**
-     * @brief Get the derivative of a projection of a 3D point into the camera plane
-     * @param[in] pose The pose
-     * @param[in] pt3D The 3D point
-     * @return The projection jacobian with respect to the pose
-     */
-    virtual Eigen::Matrix<double, 2, 16> getDerivativeTransformProjectWrtPoseLeft(const Eigen::Matrix4d& pose, const Vec4& pt3D) const = 0;
-
-    /**
-     * @brief Get the derivative of a projection of a 3D point into the camera plane
-     * @param[in] pose The pose
-     * @param[in] pt3D The 3D point
-     * @return The projection jacobian with respect to the point
-     */
-    virtual Eigen::Matrix<double, 2, 4> getDerivativeTransformProjectWrtPoint(const Eigen::Matrix4d& pose, const Vec4& pt3D) const = 0;
-
+  
     /**
      * @brief Get the derivative of a projection of a 3D point into the camera plane
      * @param[in] pose The pose

src/aliceVision/camera/Pinhole.cpp

@@ -61,132 +61,6 @@ Vec2 Pinhole::project(const Vec4& pt, bool applyDistortion) const
     return impt;
 }
 
-Eigen::Matrix<double, 2, 9> Pinhole::getDerivativeTransformProjectWrtRotation(const Eigen::Matrix4d& pose, const Vec4& pt) const
-{
-    const Vec4 X = pose * pt;  // apply pose
-
-    const Eigen::Matrix<double, 3, 9> d_X_d_R = getJacobian_AB_wrt_A<3, 3, 1>(pose.block<3, 3>(0, 0), pt.head(3));
-
-    const Vec2 P = X.head<2>() / X(2);
-
-    Eigen::Matrix<double, 2, 3> d_P_d_X;
-    d_P_d_X(0, 0) = 1 / X(2);
-    d_P_d_X(0, 1) = 0;
-    d_P_d_X(0, 2) = -X(0) / (X(2) * X(2));
-    d_P_d_X(1, 0) = 0;
-    d_P_d_X(1, 1) = 1 / X(2);
-    d_P_d_X(1, 2) = -X(1) / (X(2) * X(2));
-
-    return getDerivativeCam2ImaWrtPoint() * getDerivativeAddDistoWrtPt(P) * d_P_d_X * d_X_d_R;
-}
-
-Eigen::Matrix<double, 2, 16> Pinhole::getDerivativeTransformProjectWrtPose(const Eigen::Matrix4d& pose, const Vec4& pt) const
-{
-    const Eigen::Matrix4d T = pose;
-
-    const Vec4 X = T * pt;  // apply pose
-
-    const Eigen::Matrix<double, 4, 16> d_X_d_T = getJacobian_AB_wrt_A<4, 4, 1>(T, pt);
-
-    const Vec2 P = X.head<2>() / X(2);
-
-    Eigen::Matrix<double, 2, 3> d_P_d_X;
-    d_P_d_X(0, 0) = 1 / X(2);
-    d_P_d_X(0, 1) = 0;
-    d_P_d_X(0, 2) = -X(0) / (X(2) * X(2));
-    d_P_d_X(1, 0) = 0;
-    d_P_d_X(1, 1) = 1 / X(2);
-    d_P_d_X(1, 2) = -X(1) / (X(2) * X(2));
-
-    return getDerivativeCam2ImaWrtPoint() * getDerivativeAddDistoWrtPt(P) * d_P_d_X * d_X_d_T.block<3, 16>(0, 0);
-}
-
-Eigen::Matrix<double, 2, 16> Pinhole::getDerivativeTransformProjectWrtPoseLeft(const Eigen::Matrix4d& pose, const Vec4& pt) const
-{
-    const Eigen::Matrix4d T = pose;
-
-    const Vec4 X = T * pt;  // apply pose
-
-    const Eigen::Matrix<double, 4, 16> d_X_d_T = getJacobian_AB_wrt_A<4, 4, 1>(Eigen::Matrix4d::Identity(), X);
-
-    const Vec2 P = X.head<2>() / X(2);
-
-    double x = X(0);
-    double y = X(1);
-    double z = X(2);
-    double invz = 1.0 / z;
-    double invzsq = invz * invz;
-    double mxinvzsq = -x * invzsq;
-    double myinvzsq = -y * invzsq;
-
-    Eigen::Matrix<double, 2, 3> d_P_d_X;
-    d_P_d_X(0, 0) = 1 / X(2);
-    d_P_d_X(0, 1) = 0;
-    d_P_d_X(0, 2) = -X(0) / (X(2) * X(2));
-    d_P_d_X(1, 0) = 0;
-    d_P_d_X(1, 1) = 1 / X(2);
-    d_P_d_X(1, 2) = -X(1) / (X(2) * X(2));
-
-    Eigen::Matrix<double, 2, 16> d_P_d_T;
-    d_P_d_T(0, 0) = invz * X(0);
-    d_P_d_T(0, 1) = 0.0;
-    d_P_d_T(0, 2) = mxinvzsq * X(0);
-    d_P_d_T(0, 3) = 0;
-    d_P_d_T(0, 4) = invz * X(1);
-    d_P_d_T(0, 5) = 0.0;
-    d_P_d_T(0, 6) = mxinvzsq * X(1);
-    d_P_d_T(0, 7) = 0;
-    d_P_d_T(0, 8) = invz * X(2);
-    d_P_d_T(0, 9) = 0.0;
-    d_P_d_T(0, 10) = mxinvzsq * X(2);
-    d_P_d_T(0, 11) = 0;
-    d_P_d_T(0, 12) = invz;
-    d_P_d_T(0, 13) = 0.0;
-    d_P_d_T(0, 14) = mxinvzsq;
-    d_P_d_T(0, 15) = 0;
-
-    d_P_d_T(1, 0) = 0.0;
-    d_P_d_T(1, 1) = invz * X(0);
-    d_P_d_T(1, 2) = myinvzsq * X(0);
-    d_P_d_T(1, 3) = 0.0;
-    d_P_d_T(1, 4) = 0.0;
-    d_P_d_T(1, 5) = invz * X(1);
-    d_P_d_T(1, 6) = myinvzsq * X(1);
-    d_P_d_T(1, 7) = 0.0;
-    d_P_d_T(1, 8) = 0.0;
-    d_P_d_T(1, 9) = invz * X(2);
-    d_P_d_T(1, 10) = myinvzsq * X(2);
-    d_P_d_T(1, 11) = 0.0;
-    d_P_d_T(1, 12) = 0.0;
-    d_P_d_T(1, 13) = invz;
-    d_P_d_T(1, 14) = myinvzsq;
-    d_P_d_T(1, 15) = 0.0;
-
-    return getDerivativeCam2ImaWrtPoint() * getDerivativeAddDistoWrtPt(P) * d_P_d_T;
-}
-
-Eigen::Matrix<double, 2, 4> Pinhole::getDerivativeTransformProjectWrtPoint(const Eigen::Matrix4d& pose, const Vec4& pt) const
-{
-    const Eigen::Matrix4d T = pose;
-    const Vec4 X = T * pt;  // apply pose
-
-    const Eigen::Matrix<double, 4, 4>& d_X_d_P = getJacobian_AB_wrt_B<4, 4, 1>(T, pt);
-
-    const Vec2 P = X.head<2>() / X(2);
-
-    Eigen::Matrix<double, 2, 4> d_P_d_X;
-    d_P_d_X(0, 0) = 1 / X(2);
-    d_P_d_X(0, 1) = 0;
-    d_P_d_X(0, 2) = -X(0) / (X(2) * X(2));
-    d_P_d_X(0, 3) = 0;
-    d_P_d_X(1, 0) = 0;
-    d_P_d_X(1, 1) = 1 / X(2);
-    d_P_d_X(1, 2) = -X(1) / (X(2) * X(2));
-    d_P_d_X(1, 3) = 0;
-
-    return getDerivativeCam2ImaWrtPoint() * getDerivativeAddDistoWrtPt(P) * d_P_d_X * d_X_d_P;
-}
-
 Eigen::Matrix<double, 2, 3> Pinhole::getDerivativeTransformProjectWrtPoint3(const Eigen::Matrix4d& T, const Vec4& pt) const
 {
     const Vec4 X = T * pt;  // apply pose