1 files changed, 0 insertions, 53 deletions
diff --git a/src/camera.cpp b/src/camera.cpp
index 9b7c134..d522cd6 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -134,56 +134,3 @@ Camera::img2body ( Vector3d &xi )
     return xb;
 }		/* -----  end of method Camera::img2body  ----- */
 
-/*
- *--------------------------------------------------------------------------------------
- *       Class:  Camera
- *      Method:  Camera :: ref2body
- * Description:  Determines the feature position with respect to the body from a
- * source reflection correspondence xs & sr given the body rotation and height.
- *--------------------------------------------------------------------------------------
- */
-Vector3d
-Camera::ref2body ( double z, const Quaterniond &qbw, const Vector3d &xs, 
-        const Vector3d &xr )
-{
-    // The output vector
-    Vector3d xb;
-    Vector4d xb4;
-
-    // Rotation from body to camera
-    Matrix<double,4,4> Rbc4;
-    Rbc4 = Rc2b4().transpose();
-    
-    // Projection matrices
-    Matrix<double,4,4> P1,P2,P;
-    P1 = K4()*Rbc4;
-
-    // Rotation from body to world
-    Matrix<double,3,3> Rbw;
-    Matrix<double,4,4> Rbw4,Rwb4;
-    Rbw = qbw.toRotationMatrix();
-    Rbw4 = Matrix<double,4,4>::Identity();
-    Rbw4.block<3,3>(0,0) = Rbw;
-    Rwb4 = Rbw4.transpose();
-
-
-    Matrix<double,4,4> J; // Reflection matrix
-    J = Matrix<double,4,4>::Identity();
-    J(2,2) = -1;
-    J(2,3) = -2*z;
-
-    P2 = K4()*Rbc4*Rwb4*J*Rbw4;
-    P.block<3,4>(0,0) = P1.block<3,4>(0,0);
-    P.block<1,4>(3,0) = P2.block<1,4>(1,0);
-
-    Vector4d b;
-    b.segment<3>(0) = xs;
-    b[3] = xr[1];
-
-    xb4 = P.inverse()*b;
-    xb4 /= xb4[3];
-    xb = xb4.segment<3>(0);
-
-    return xb ;
-}		/* -----  end of method Camera::ref2body  ----- */
-