Remove unused rigid registration code

There're some features planned which would
require rigid registration, but this code
would need to be re-done anyway to use new
minimizer and solving some issues with ICP
algorithm there.

5 files changed, 0 insertions, 308 deletions

diff --git a/extern/libmv/CMakeLists.txt b/extern/libmv/CMakeLists.txt
index 241e8bf2cd1..a4910d94a37 100644
--- a/extern/libmv/CMakeLists.txt
+++ b/extern/libmv/CMakeLists.txt
@@ -59,7 +59,6 @@ set(SRC
 	libmv/simple_pipeline/pipeline.cc
 	libmv/simple_pipeline/reconstruction.cc
 	libmv/simple_pipeline/resect.cc
-	libmv/simple_pipeline/rigid_registration.cc
 	libmv/simple_pipeline/tracks.cc
 	libmv/tracking/brute_region_tracker.cc
 	libmv/tracking/esm_region_tracker.cc
@@ -118,7 +117,6 @@ set(SRC
 	libmv/simple_pipeline/pipeline.h
 	libmv/simple_pipeline/reconstruction.h
 	libmv/simple_pipeline/resect.h
-	libmv/simple_pipeline/rigid_registration.h
 	libmv/simple_pipeline/tracks.h
 	libmv/tracking/brute_region_tracker.h
 	libmv/tracking/esm_region_tracker.h
diff --git a/extern/libmv/files.txt b/extern/libmv/files.txt
index 8eead23ea08..16afdb36371 100644
--- a/extern/libmv/files.txt
+++ b/extern/libmv/files.txt
@@ -54,8 +54,6 @@ libmv/simple_pipeline/reconstruction.cc
 libmv/simple_pipeline/reconstruction.h
 libmv/simple_pipeline/resect.cc
 libmv/simple_pipeline/resect.h
-libmv/simple_pipeline/rigid_registration.cc
-libmv/simple_pipeline/rigid_registration.h
 libmv/simple_pipeline/tracks.cc
 libmv/simple_pipeline/tracks.h
 libmv/tracking/brute_region_tracker.cc
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp
index 74224eb5368..c915205dd16 100644
--- a/extern/libmv/libmv-capi.cpp
+++ b/extern/libmv/libmv-capi.cpp
@@ -56,7 +56,6 @@
 #include "libmv/simple_pipeline/detect.h"
 #include "libmv/simple_pipeline/pipeline.h"
 #include "libmv/simple_pipeline/camera_intrinsics.h"
-#include "libmv/simple_pipeline/rigid_registration.h"
 #include "libmv/simple_pipeline/modal_solver.h"
 
 #include <stdlib.h>
@@ -968,56 +967,3 @@ void libmv_InvertIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsi
 		camera_intrinsics.InvertIntrinsics(x, y, x1, y1);
 	}
 }
-
-/* ************ point clouds ************ */
-
-static void libmvTransformToMat4(libmv::Mat3 &R, libmv::Vec3 &S, libmv::Vec3 &t, double M[4][4])
-{
-	for (int j = 0; j < 3; ++j)
-		for (int k = 0; k < 3; ++k)
-			M[j][k] = R(k, j) * S(j);
-
-	for (int i = 0; i < 3; ++i) {
-		M[3][0] = t(0);
-		M[3][1] = t(1);
-		M[3][2] = t(2);
-
-		M[0][3] = M[1][3] = M[2][3] = 0;
-	}
-
-	M[3][3] = 1.0;
-}
-
-void libmv_rigidRegistration(float (*reference_points)[3], float (*points)[3], int total_points,
-                             int use_scale, int use_translation, double M[4][4])
-{
-	libmv::Mat3 R;
-	libmv::Vec3 S;
-	libmv::Vec3 t;
-	libmv::vector<libmv::Vec3> reference_points_vector, points_vector;
-
-	for (int i = 0; i < total_points; i++) {
-		reference_points_vector.push_back(libmv::Vec3(reference_points[i][0],
-		                                              reference_points[i][1],
-		                                              reference_points[i][2]));
-
-		points_vector.push_back(libmv::Vec3(points[i][0],
-		                                    points[i][1],
-		                                    points[i][2]));
-	}
-
-	if (use_scale && use_translation) {
-		libmv::RigidRegistration(reference_points_vector, points_vector, R, S, t);
-	}
-	else if (use_translation) {
-		S = libmv::Vec3(1.0, 1.0, 1.0);
-		libmv::RigidRegistration(reference_points_vector, points_vector, R, t);
-	}
-	else {
-		S = libmv::Vec3(1.0, 1.0, 1.0);
-		t = libmv::Vec3::Zero();
-		libmv::RigidRegistration(reference_points_vector, points_vector, R);
-	}
-
-	libmvTransformToMat4(R, S, t, M);
-}
diff --git a/extern/libmv/libmv/simple_pipeline/rigid_registration.cc b/extern/libmv/libmv/simple_pipeline/rigid_registration.cc
deleted file mode 100644
index f7cb1e66e7d..00000000000
--- a/extern/libmv/libmv/simple_pipeline/rigid_registration.cc
+++ /dev/null
@@ -1,182 +0,0 @@
-// Copyright (c) 2012 libmv authors.
-//
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to
-// deal in the Software without restriction, including without limitation the
-// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
-// sell copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-//
-// The above copyright notice and this permission notice shall be included in
-// all copies or substantial portions of the Software.
-//
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
-// IN THE SOFTWARE.
-
-#include "libmv/simple_pipeline/rigid_registration.h"
-#include "libmv/numeric/levenberg_marquardt.h"
-
-namespace libmv {
-
-template<class RigidTransformation>
-struct RigidRegistrationCostFunction {
- public:
-  typedef Vec FMatrixType;
-  typedef RigidTransformation XMatrixType;
-
-  RigidRegistrationCostFunction(const vector<Vec3> &reference_points,
-                                const vector<Vec3> &points):
-    reference_points_(reference_points),
-    points_(points) {}
-
-  Vec CalculateResiduals(const Mat3 &R,
-                         const Vec3 &S,
-                         const Vec3 &t) const {
-    Vec residuals(points_.size());
-    residuals.setZero();
-
-    // Convert scale vector to matrix
-    Mat3 SMat = Mat3::Identity();
-    SMat(0, 0) *= S(0);
-    SMat(1, 1) *= S(1);
-    SMat(2, 2) *= S(2);
-
-    for (int i = 0; i < points_.size(); i++) {
-      Vec3 transformed_point = R * SMat * points_[i] + t;
-
-      double norm = (transformed_point - reference_points_[i]).norm();
-
-      residuals(i) = norm * norm;
-    }
-
-    return residuals;
-  }
-
-  Vec operator()(const Vec9 &RSt) const {
-    Mat3 R = RotationFromEulerVector(RSt.head<3>());
-    Vec3 S = RSt.segment<3>(3);
-    Vec3 t = RSt.tail<3>();
-
-    return CalculateResiduals(R, S, t);
-  }
-
-  Vec operator()(const Vec3 &euler) const {
-    Mat3 R = RotationFromEulerVector(euler);
-
-    return CalculateResiduals(R, Vec3(1.0, 1.0, 1.0), Vec3::Zero());
-  }
-
-  Vec operator()(const Vec6 &Rt) const {
-    Mat3 R = RotationFromEulerVector(Rt.head<3>());
-    Vec3 t = Rt.tail<3>();
-
-    return CalculateResiduals(R, Vec3(1.0, 1.0, 1.0), t);
-  }
-
- private:
-  vector<Vec3> reference_points_;
-  vector<Vec3> points_;
-};
-
-static double RigidRegistrationError(const vector<Vec3> &reference_points,
-                                     const vector<Vec3> &points,
-                                     const Mat3 &R,
-                                     const Vec3 &S,
-                                     const Vec3 &t) {
-  double error = 0.0;
-
-  Mat3 SMat = Mat3::Identity();
-  SMat(0, 0) *= S(0);
-  SMat(1, 1) *= S(1);
-  SMat(2, 2) *= S(2);
-
-  for (int i = 0; i < points.size(); i++) {
-    Vec3 new_point = R * SMat * points[i] + t;
-
-    double norm = (new_point - reference_points[i]).norm();
-    error += norm * norm;
-  }
-  error /= points.size();
-
-  return error;
-}
-
-double RigidRegistration(const vector<Vec3> &reference_points,
-                         const vector<Vec3> &points,
-                         Mat3 &R,
-                         Vec3 &S,
-                         Vec3 &t) {
-  typedef LevenbergMarquardt<RigidRegistrationCostFunction <Vec9> > Solver;
-
-  RigidRegistrationCostFunction<Vec9> rigidregistration_cost(reference_points, points);
-  Solver solver(rigidregistration_cost);
-
-  Vec9 RSt = Vec9::Zero();
-
-  RSt(3) = RSt(4) = RSt(5) = 1.0;
-
-  Solver::SolverParameters params;
-  /*Solver::Results results = */ solver.minimize(params, &RSt);
-  /* TODO(sergey): better error handling here */
-
-  LG << "Rigid registration completed, rotation is:" << RSt.head<3>().transpose()
-    << ", scale is " << RSt.segment<3>(3).transpose()
-    << ", translation is " << RSt.tail<3>().transpose();
-
-  // Decompose individual rotation and translation
-  R = RotationFromEulerVector(RSt.head<3>());
-  S = RSt.segment<3>(3);
-  t = RSt.tail<3>();
-
-  return RigidRegistrationError(reference_points, points, R, S, t);
-}
-
-double RigidRegistration(const vector<Vec3> &reference_points,
-                         const vector<Vec3> &points,
-                         Mat3 &R,
-                         Vec3 &t) {
-  typedef LevenbergMarquardt<RigidRegistrationCostFunction <Vec6> > Solver;
-
-  RigidRegistrationCostFunction<Vec6> rigidregistration_cost(reference_points, points);
-  Solver solver(rigidregistration_cost);
-
-  Vec6 Rt = Vec6::Zero();
-  Solver::SolverParameters params;
-  /*Solver::Results results = */solver.minimize(params, &Rt);
-  /* TODO(sergey): better error handling here */
-
-  LG << "Rigid registration completed, rotation is:" << Rt.head<3>().transpose()
-    << ", translation is " << Rt.tail<3>().transpose();
-
-  R = RotationFromEulerVector(Rt.head<3>());
-  t = Rt.tail<3>();
-
-  return RigidRegistrationError(reference_points, points, R, Vec3(1.0, 1.0, 1.0), t);
-}
-
-double RigidRegistration(const vector<Vec3> &reference_points,
-                         const vector<Vec3> &points,
-                         Mat3 &R) {
-  typedef LevenbergMarquardt<RigidRegistrationCostFunction <Vec3> > Solver;
-
-  RigidRegistrationCostFunction<Vec3> rigidregistration_cost(reference_points, points);
-  Solver solver(rigidregistration_cost);
-
-  Vec3 euler = Vec3::Zero();
-  Solver::SolverParameters params;
-  /*Solver::Results results = */solver.minimize(params, &euler);
-  /* TODO(sergey): better error handling here */
-
-  LG << "Rigid registration completed, rotation is:" << euler.transpose();
-
-  R = RotationFromEulerVector(euler);
-
-  return RigidRegistrationError(reference_points, points, R, Vec3(1.0, 1.0, 1.0), Vec3::Zero());
-}
-
-}  // namespace libmv
diff --git a/extern/libmv/libmv/simple_pipeline/rigid_registration.h b/extern/libmv/libmv/simple_pipeline/rigid_registration.h
deleted file mode 100644
index 21ea57af507..00000000000
--- a/extern/libmv/libmv/simple_pipeline/rigid_registration.h
+++ /dev/null
@@ -1,68 +0,0 @@
-// Copyright (c) 2012 libmv authors.
-//
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to
-// deal in the Software without restriction, including without limitation the
-// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
-// sell copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-//
-// The above copyright notice and this permission notice shall be included in
-// all copies or substantial portions of the Software.
-//
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
-// IN THE SOFTWARE.
-
-#ifndef LIBMV_SIMPLE_PIPELINE_RIGID_REGISTRATION_H_
-#define LIBMV_SIMPLE_PIPELINE_RIGID_REGISTRATION_H_
-
-#include "libmv/base/vector.h"
-#include "libmv/numeric/numeric.h"
-
-namespace libmv {
-
-/*!
-    Searched for an affine transformation of rigid 3D object defined by it's
-    vertices positions from it's current state called points to it's desired
-    state called reference points.
-
-    Returns rotation matrix, per-component scale vector and translation which
-    transforms points to the mot close state to reference_points.
-
-    Return value is an average squared distance between reference state
-    and transformed one.
-
-    Minimzation of distance between point pairs is used to register such a
-    rigid transformation and algorithm assumes that pairs of points are
-    defined by point's index in a vector, so points with the same index
-    belongs to the same pair.
- */
-double RigidRegistration(const vector<Vec3> &reference_points,
-                         const vector<Vec3> &points,
-                         Mat3 &R,
-                         Vec3 &S,
-                         Vec3 &t);
-
-/*!
- * Same as RigidRegistration but provides registration of rotation and translation only
- */
-double RigidRegistration(const vector<Vec3> &reference_points,
-                         const vector<Vec3> &points,
-                         Mat3 &R,
-                         Vec3 &t);
-
-/*!
- * Same as RigidRegistration but provides registration of rotation only
- */
-double RigidRegistration(const vector<Vec3> &reference_points,
-                         const vector<Vec3> &points,
-                         Mat3 &R);
-
-}  // namespace libmv
-
-#endif  // LIBMV_SIMPLE_PIPELINE_RIGID_REGISTRATION_H_