From a40c2ad56433f553828568941e09243039cb382f Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Fri, 26 Apr 2024 16:33:28 +0900 Subject: [PATCH] fix unused code Signed-off-by: Yukihiro Saito --- .../src/roi_cluster_fusion/node.cpp | 17 ++++++----------- 1 file changed, 6 insertions(+), 11 deletions(-) diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index 591040bd404b3..bcab690b0268a 100644 --- a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -41,12 +41,12 @@ Eigen::Vector2d calcRawImagePointFromPoint3D( return Eigen::Vector2d(raw_image_point.x, raw_image_point.y); } -Eigen::Vector2d calcRectifiedImagePointFromPoint3D( - const image_geometry::PinholeCameraModel & pinhole_camera_model, const cv::Point3d & point3d) -{ - cv::Point2d rectified_image_point = pinhole_camera_model.project3dToPixel(point3d); - return Eigen::Vector2d(rectified_image_point.x, rectified_image_point.y); -} +// Eigen::Vector2d calcRectifiedImagePointFromPoint3D( +// const image_geometry::PinholeCameraModel & pinhole_camera_model, const cv::Point3d & point3d) +// { +// cv::Point2d rectified_image_point = pinhole_camera_model.project3dToPixel(point3d); +// return Eigen::Vector2d(rectified_image_point.x, rectified_image_point.y); +// } } // namespace @@ -155,13 +155,8 @@ void RoiClusterFusionNode::fuseOnSingleImage( Eigen::Vector2d projected_point; - // if (camera_info.do_rectify) { projected_point = calcRawImagePointFromPoint3D(pinhole_camera_model, cv::Point3d(*iter_x, *iter_y, *iter_z)); - // } else { - // projected_point = calcRectifiedImagePointFromPoint3D( - // pinhole_camera_model, cv::Point3d(*iter_x, *iter_y, *iter_z)); - // } if ( 0 <= static_cast(projected_point.x()) &&