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Remove externally unused function from API #250

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merged 3 commits into from
Dec 5, 2023
Merged

Remove externally unused function from API #250

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c90cb04
as long as no one consumes it it doesn't make sense to leave it there
nachovizzo Oct 27, 2023
76a3725
Move function inside unnames namespace
nachovizzo Oct 27, 2023
e5b2c03
Merge branch 'main' into nacho/remove_unused_function_from_public_api
tizianoGuadagnino Dec 5, 2023
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9 changes: 5 additions & 4 deletions cpp/kiss_icp/core/Registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,9 @@
#include <tuple>

namespace Eigen {
using Matrix6d = Eigen::Matrix<double, 6, 6>;
using Matrix3_6d = Eigen::Matrix<double, 3, 6>;
using Vector6d = Eigen::Matrix<double, 6, 1>;
} // namespace Eigen

namespace {
Expand Down Expand Up @@ -63,10 +65,6 @@ void TransformPoints(const Sophus::SE3d &T, std::vector<Eigen::Vector3d> &points
constexpr int MAX_NUM_ITERATIONS_ = 500;
constexpr double ESTIMATION_THRESHOLD_ = 0.0001;

} // namespace

namespace kiss_icp {

std::tuple<Eigen::Matrix6d, Eigen::Vector6d> BuildLinearSystem(
const std::vector<Eigen::Vector3d> &source,
const std::vector<Eigen::Vector3d> &target,
Expand Down Expand Up @@ -103,6 +101,9 @@ std::tuple<Eigen::Matrix6d, Eigen::Vector6d> BuildLinearSystem(

return std::make_tuple(JTJ, JTr);
}
} // namespace

namespace kiss_icp {

Sophus::SE3d RegisterFrame(const std::vector<Eigen::Vector3d> &frame,
const VoxelHashMap &voxel_map,
Expand Down
10 changes: 0 additions & 10 deletions cpp/kiss_icp/core/Registration.hpp
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Expand Up @@ -28,18 +28,8 @@

#include "VoxelHashMap.hpp"

namespace Eigen {
using Matrix6d = Eigen::Matrix<double, 6, 6>;
using Vector6d = Eigen::Matrix<double, 6, 1>;
} // namespace Eigen

namespace kiss_icp {

std::tuple<Eigen::Matrix6d, Eigen::Vector6d> BuildLinearSystem(
const std::vector<Eigen::Vector3d> &source,
const std::vector<Eigen::Vector3d> &target,
double kernel);

Sophus::SE3d RegisterFrame(const std::vector<Eigen::Vector3d> &frame,
const VoxelHashMap &voxel_map,
const Sophus::SE3d &initial_guess,
Expand Down
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