another attempt at making gitignore work for cmake; also removed unne…

…cessary function from probabilityMapping that I added yesterday
konanrobot · Feb 20, 2016 · 03bb761 · 03bb761
1 parent 6ca90ac
commit 03bb761
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 21 deletions.
diff --git a/.gitignore b/.gitignore
@@ -6,4 +6,9 @@ Thirdparty/g2o/config.h
 Thirdparty/g2o/lib/*.so
 Thirdparty/DBoW2/lib/*.so
 CMakefiles/
-debug/CMakefiles/
+debug/
+
+!debug/.gitignore
+!debug/CMakeLists.txt
+!debug/src/
+!debug/inc/
diff --git a/debug/inc/ProbabilityMapping.h b/debug/inc/ProbabilityMapping.h
@@ -85,9 +85,7 @@ class ProbabilityMapping {
         //void GetPixelDepth(const cv::Mat& Im, const cv::Mat& R, const cv::Mat& T, ORB_SLAM::KeyFrame* kF, int u, float *p);
 	bool ChiTest(const depthHo& ha, const depthHo& hb, float* chi_val);
 	void GetFusion(const std::vector<depthHo*>& best_compatible_ho, depthHo* hypothesis, float* min_sigma);
-        void Equation14Sum(int j, std::vector<depthHo*>*& compatible_pixels, cv::Mat& xp, cv::Mat*& rji, cv::Mat*& tji, float dp, float* sum);
         void Equation14(depthHo*& dHjn, float& depthp, cv::Mat& xp, cv::Mat& rji, cv::Mat& tji, float* res);
-        //void Equation14(depthHo* dHjn, float depthp, cv::Mat& xp, cv::Mat& rji, cv::Mat& tji, float* res);
 };
 
 #endif
diff --git a/debug/src/ProbabilityMapping.cc b/debug/src/ProbabilityMapping.cc
@@ -380,24 +380,6 @@ void ProbabilityMapping::Equation14(depthHo*& dHjn, float& depthp, cv::Mat& xp,
     *res = pow((dHjn->depth - (depthp * tempf) - tji_z) / (pow(dHjn->depth, 2) * dHjn->sigma), 1);
 }
 
-// the compatible pixels need to be organized by neighbor keyframe index so that the correct translation/rotation matrix can be used 
-// for each pixel j,n.
-void ProbabilityMapping::Equation14Sum(int j, std::vector<depthHo*>*& compatible_pixels, cv::Mat& xp, cv::Mat*& rji, cv::Mat*& tji, float dp, float* sum) {
-    float s = 0;
-    float tji_z;
-    float tempf;
-    cv::Mat tempm;
-    for (int k = 0; k < j; k++) {
-        tji_z = tji[k].at<float>(2);
-        for (size_t i = 0; i < compatible_pixels[k].size(); i++) {
-            tempm = rji[k].row(2) * xp;
-            tempf = tempm.at<float>(0,0);
-            s += pow((compatible_pixels[k][i]->depth - (dp * tempf) - tji_z) / (pow(compatible_pixels[k][i]->depth, 2) * compatible_pixels[k][i]->sigma) ,2);
-        }
-    }
-    *sum = s;
-}
-
 
 ////////////////////////
 // Utility functions