remove useless code

src/software/pipeline/main_panoramaWarping.cpp

@@ -38,259 +38,6 @@ namespace po = boost::program_options;
 namespace bpt = boost::property_tree;
 namespace fs = boost::filesystem;
 
-
-Eigen::VectorXf gaussian_kernel_vector(size_t kernel_length, float sigma) {
-
-  Eigen::VectorXd x;
-  x.setLinSpaced(kernel_length + 1, -sigma, +sigma);
-
-  Eigen::VectorXd cdf(kernel_length + 1);
-  for (int i = 0; i < kernel_length + 1; i++) {
-    cdf(i) = 0.5 * (1 + std::erf(x(i)/sqrt(2.0)));
-  }
-
-  Eigen::VectorXd k1d(kernel_length);
-  for (int i = 0; i < kernel_length; i++) {
-    k1d(i) = cdf(i + 1) - cdf(i);
-  }
-
-  double sum = k1d.sum();
-  k1d = k1d / sum;
-
-  return k1d.cast<float>();
-}
-
-Eigen::MatrixXf gaussian_kernel(size_t kernel_length, float sigma) {
-
-  Eigen::VectorXf k1d = gaussian_kernel_vector(kernel_length, sigma);
-  Eigen::MatrixXf K = k1d * k1d.transpose();
-
-
-  double sum = K.sum();
-  K = K / sum;
-
-  return K;
-}
-
-
-
-bool convolve(image::Image<float> & output, const image::Image<float> & input, const image::Image<unsigned char> & mask, const Eigen::MatrixXf & kernel) {
-
-  if (output.size() != input.size()) {
-    return false;
-  }
-
-  if (output.size() != mask.size()) {
-    return false;
-  }
-
-  if (kernel.size() % 2 == 0) {
-    return false;
-  }
-
-  if (kernel.rows() != kernel.cols()) {
-    return false;
-  }
-
-  int radius = kernel.rows() / 2;
-
-  Eigen::MatrixXf kernel_scaled = kernel;
-
-  for (int i = 0; i < output.Height(); i++) {
-    for (int j = 0; j < output.Width(); j++) {
-
-      float sum = 0.0f;
-      float sum_mask = 0.0f;
-
-      if (!mask(i, j)) {
-        output(i, j) = 0.0f; 
-        continue;
-      }
-
-      for (int k = 0; k < kernel.rows(); k++) {
-        float ni = i + k - radius;
-        if (ni < 0 || ni >= output.Height()) {
-          continue;
-        }
-
-        for (int l = 0; l < kernel.cols(); l++) {
-          float nj = j + l - radius;
-          if (nj < 0 || nj >= output.Width()) {
-            continue;
-          }
-
-          if (!mask(ni, nj)) {
-            continue;
-          }
-
-          float val = kernel(k, l) * input(ni, nj);
-          sum += val;
-          sum_mask += kernel(k, l);
-        }
-      } 
-
-      output(i, j) = sum / sum_mask;
-    }
-  }
-
-  return true;
-}
-
-bool convolve(image::Image<image::RGBfColor> & output, const image::Image<image::RGBfColor> & input, const image::Image<unsigned char> & mask, const Eigen::MatrixXf & kernel) {
-
-  if (output.size() != input.size()) {
-    return false;
-  }
-
-  if (output.size() != mask.size()) {
-    return false;
-  }
-
-  if (kernel.size() % 2 == 0) {
-    return false;
-  }
-
-  if (kernel.rows() != kernel.cols()) {
-    return false;
-  }
-
-  int radius = kernel.rows() / 2;
-
-  Eigen::MatrixXf kernel_scaled = kernel;
-
-  for (int i = 0; i < output.Height(); i++) {
-    for (int j = 0; j < output.Width(); j++) {
-
-      image::RGBfColor sum(0.0f);
-      float sum_mask = 0.0f;
-
-      if (!mask(i, j)) {
-        output(i, j) = sum; 
-        continue;
-      }
-
-      for (int k = 0; k < kernel.rows(); k++) {
-        float ni = i + k - radius;
-        if (ni < 0 || ni >= output.Height()) {
-          continue;
-        }
-
-        for (int l = 0; l < kernel.cols(); l++) {
-          float nj = j + l - radius;
-          if (nj < 0 || nj >= output.Width()) {
-            continue;
-          }
-
-          if (!mask(ni, nj)) {
-            continue;
-          }
-
-          sum.r() += kernel(k, l) * input(ni, nj).r();
-          sum.g() += kernel(k, l) * input(ni, nj).g();
-          sum.b() += kernel(k, l) * input(ni, nj).b();
-          sum_mask += kernel(k, l);
-        }
-      } 
-
-      output(i, j) = sum / sum_mask;
-    }
-  }
-
-  return true;
-}
-
-bool computeDistanceMap(image::Image<int> & distance, const image::Image<unsigned char> & mask) {
-
-  int m = mask.Height();
-  int n = mask.Width();
-
-  int maxval = m * n;
-
-  distance = image::Image<int> (n, m, false); 
-  for(int x = 0; x < n; ++x) {
-
-    //A corner is when mask becomes 0
-    bool b = !mask(0, x);
-    if (b) {
-      distance(0, x) = 0;
-    }
-    else {
-      distance(0, x) = maxval * maxval;
-    }
-
-    for (int y = 1; y < m; y++) {
-      bool b = !mask(y, x);
-      if (b) {
-        distance(y, x) = 0;
-      }
-      else {          
-        distance(y, x) = 1 + distance(y - 1, x);
-      }
-    }
-
-    for (int y = m - 2; y >= 0; y--) {
-      if (distance(y + 1, x) < distance(y, x)) {
-        distance(y, x) = 1 + distance(y + 1, x);
-      }
-    }
-  }
-
-  for (int y = 0; y < m; y++) {  
-    int q;
-    std::map<int, int> s;
-    std::map<int, int> t;
-
-    q = 0;
-    s[0] = 0;
-    t[0] = 0;
-
-    std::function<int (int, int)> f = [distance, y](int x, int i) { 
-      int gi = distance(y, i);
-      return (x - i)*(x - i) + gi * gi; 
-    };
-
-    std::function<int (int, int)> sep = [distance, y](int i, int u) { 
-      int gu = distance(y, u);
-      int gi = distance(y, i);
-
-      int nom = (u * u) - (i * i) + (gu * gu) - (gi * gi);
-      int denom = 2 * (u - i);
-
-      return nom / denom;
-    };
-
-    for (int u = 1; u < n; u++) {
-
-      while (q >= 0 && (f(t[q], s[q]) > f(t[q], u))) {
-        q = q - 1;
-      }
-
-      if (q < 0) {
-        q = 0;
-        s[0] = u;
-      }
-      else {
-        int w = 1 + sep(s[q], u);
-        if (w  < n) {
-          q = q + 1;
-          s[q] = u;
-          t[q] = w;
-        }
-      }
-    }
-
-    for (int u = n - 1; u >= 0; u--) {
-      distance(y, u) = f(u, s[q]);
-      if (u == t[q]) {
-        q = q - 1;
-      }
-    }
-  }
-
-  return true;
-}
-
-
 namespace SphericalMapping
 {
   /**