remove useless code

openxrlab · Apr 28, 2024 · de4bf1d · de4bf1d
1 parent 771a710
commit de4bf1d
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Showing 55 changed files with 553 additions and 2,775 deletions.
diff --git a/3rdparty/apriltag/CMakeLists.txt b/3rdparty/apriltag/CMakeLists.txt
@@ -133,7 +133,6 @@ if(BUILD_PYTHON_WRAPPER)
 endif(BUILD_PYTHON_WRAPPER)
 
 if (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
-    # TODO deal with both python2/3
     execute_process(COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/python_build_flags.py OUTPUT_VARIABLE PY_OUT)
     set(PY_VARS CFLAGS LDFLAGS LINKER EXT_SUFFIX)
     cmake_parse_arguments(PY "" "${PY_VARS}" "" ${PY_OUT})

diff --git a/3rdparty/apriltag/apriltag.c b/3rdparty/apriltag/apriltag.c
@@ -902,7 +902,6 @@ static void refine_edges(apriltag_detector_t *td, image_u8_t *im_orig,
         double Cxy = Mxy / N - Ex * Ey;
         double Cyy = Myy / N - Ey * Ey;
 
-        // TODO: Can replace this with same code as in fit_line.
         double normal_theta = .5 * atan2f(-2 * Cxy, (Cyy - Cxx));
         nx = cosf(normal_theta);
         ny = sinf(normal_theta);

diff --git a/3rdparty/apriltag/common/getopt.c b/3rdparty/apriltag/common/getopt.c
@@ -218,7 +218,6 @@ int getopt_parse(getopt_t *gopt, int argc, char *argv[], int showErrors) {
             }
 
             if (goo->type == GOO_STRING_TYPE) {
-                // TODO: check whether next argument is an option, denoting
                 // missing argument
                 if ((i + 1) < zarray_size(toks)) {
                     char *val = NULL;
@@ -272,7 +271,6 @@ int getopt_parse(getopt_t *gopt, int argc, char *argv[], int showErrors) {
                     if ((i + 1) < zarray_size(toks)) {
                         char *val = NULL;
                         zarray_get(toks, i + 1, &val);
-                        // TODO: allow negative numerical values for short-name
                         // options ?
                         if (val[0] == '-') {
                             okay = 0;

diff --git a/3rdparty/apriltag/common/homography.c b/3rdparty/apriltag/common/homography.c
@@ -396,8 +396,6 @@ matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A,
     double R12 = R20 * R01 - R00 * R21;
     double R22 = R00 * R11 - R10 * R01;
 
-    // TODO XXX: Improve rotation matrix by applying polar decomposition.
-
     return matd_create_data(4, 4,
                             (double[]){R00, R01, R02, TX, R10, R11, R12, TY,
                                        R20, R21, R22, TZ, 0, 0, 0, 1});

diff --git a/3rdparty/apriltag/common/matd.c b/3rdparty/apriltag/common/matd.c
@@ -516,14 +516,6 @@ matd_t *matd_inverse(const matd_t *x) {
     return NULL; // unreachable
 }
 
-// TODO Optimization: Some operations we could perform in-place,
-// saving some memory allocation work. E.g., ADD, SUBTRACT. Just need
-// to make sure that we don't do an in-place modification on a matrix
-// that was an input argument!
-
-// handle right-associative operators, greedily consuming them. These
-// include transpose and inverse. This is called by the main recursion
-// method.
 static inline matd_t *matd_op_gobble_right(const char *expr, int *pos,
                                            matd_t *acc, matd_t **garb,
                                            int *garbpos) {
@@ -1091,7 +1083,6 @@ static matd_svd_t matd_svd_tall(matd_t *A, int flags) {
             for (int i = 0; i < vlen; i++)
                 v[i] /= mag;
 
-            // TODO: optimize these multiplications
             // matd_t *Q = matd_identity(A->ncols);
             //  for (int i = 0; i < vlen; i++)
             //    for (int j = 0; j < vlen; j++)

diff --git a/3rdparty/apriltag/common/pjpeg.c b/3rdparty/apriltag/common/pjpeg.c
@@ -238,7 +238,6 @@ static inline uint32_t bd_get_offset(struct bit_decoder *bd) {
 }
 
 static int pjpeg_decode_buffer(struct pjpeg_decode_state *pjd) {
-    // XXX TODO Include sanity check that this is actually a JPG
 
     struct bit_decoder bd;
     memset(&bd, 0, sizeof(struct bit_decoder));

diff --git a/3rdparty/apriltag/common/time_util.c b/3rdparty/apriltag/common/time_util.c
@@ -67,8 +67,6 @@ int32_t timeutil_usleep(int64_t useconds) {
     Sleep(useconds / 1000);
     return 0;
 #else
-    // unistd.h function, but usleep is obsoleted in POSIX.1-2008.
-    // TODO: Eventually, rewrite this to use nanosleep
     return usleep(useconds);
 #endif
 }

diff --git a/3rdparty/json/json.hpp b/3rdparty/json/json.hpp
@@ -9888,7 +9888,7 @@ class binary_reader {
         */
     bool get_ubjson_string(string_t &result, const bool get_char = true) {
         if (get_char) {
-            get(); // TODO(niels): may we ignore N here?
+            get();
         }
 
         if (JSON_HEDLEY_UNLIKELY(

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -112,15 +112,12 @@ add_library(xrsfm
 
         src/geometry/pnp.cc
         src/geometry/essential.cc
-        src/geometry/triangluate_svd.cc
+        src/geometry/triangulate_light.cc
         src/geometry/track_processor.cc
 
-        src/geometry/colmap/base/triangulation.cc
         src/geometry/colmap/estimators/absolute_pose.cc
-        src/geometry/colmap/estimators/triangulation.cc
         src/geometry/colmap/estimators/polynomial.cc
         src/geometry/colmap/estimators/fundamental_matrix.cc
-        src/geometry/colmap/estimators/utils.cc
         src/geometry/colmap/util/random.cc
         src/geometry/colmap/optim/random_sampler.cc
         src/geometry/colmap/optim/combination_sampler.cc