1 files changed, 0 insertions, 81 deletions
diff --git a/ARToolKitPlus/src/librpp/MATLAB/robust_pose.cpp b/ARToolKitPlus/src/librpp/MATLAB/robust_pose.cpp
deleted file mode 100644
index 2860ff7..0000000
--- a/ARToolKitPlus/src/librpp/MATLAB/robust_pose.cpp
+++ /dev/null
@@ -1,81 +0,0 @@
-// Author: Thomas Pintaric <pintaric@ims.tuwien.ac.at>
-
-#include <vector>
-#include "../rpp.h"
-#include "../rpp_types.h"
-#include "../rpp_vecmat.h"
-#include "mex.h"
-
-using namespace rpp;
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    const mxArray *model_p, *iprts_p;
-    double *model_v, *iprts_v, *R_v, *t_v, *e_v;
-    
-    model_p = prhs[0]; 
-    iprts_p = prhs[1]; 
-    model_v = mxGetPr(model_p);
-    iprts_v = mxGetPr(iprts_p);
-
-	if(mxGetN(model_p) != mxGetN(iprts_p))
-	{
-        mexErrMsgTxt("size(model) ~= size(iprts)");        
-        return;
-	}
-	if((mxGetM(model_p) != 3) || (mxGetM(iprts_p) != 3))
-	{
-        mexErrMsgTxt("[model] and [iprts] must be 3-by-N matrices");        
-        return;
-	}
-    
-
-	unsigned int n = mxGetN(model_p);
-	vec3_array model;
-	vec3_array iprts;
-
-	model.resize(n);
-	iprts.resize(n);
-
-	unsigned int j=0;
-	for(unsigned int i=0; i<n; i++)
-	{
-		vec3_t _vm,_vi;
-		vec3_assign(_vm,(real_t)model_v[j],(real_t)model_v[j+1],(real_t)model_v[j+2]);
-		vec3_assign(_vi,(real_t)iprts_v[j],(real_t)iprts_v[j+1],(real_t)iprts_v[j+2]);
-		j += 3;
-		model[i] = _vm;
-		iprts[i] = _vi;
-	}
-
-	options_t options;
-    options.epsilon = (float)DEFAULT_EPSILON;
-    options.tol =     (float)DEFAULT_TOL;
-	mat33_set_all_zeros(options.initR);
-
-	real_t  err;
-	vec3_t  t;
-	mat33_t R;    
-    
-	robust_pose(err,R,t,model,iprts,options);
-   
-    plhs[0] = mxCreateDoubleMatrix(3, 3, mxREAL);
-    R_v = mxGetPr(plhs[0]);
-
-	R_v[0] = R.m[0][0];	R_v[1] = R.m[1][0];	R_v[2] = R.m[2][0];
-	R_v[3] = R.m[0][1];	R_v[4] = R.m[1][1];	R_v[5] = R.m[2][1];
-	R_v[6] = R.m[0][2];	R_v[7] = R.m[1][2];	R_v[8] = R.m[2][2];
-
-    plhs[1] = mxCreateDoubleMatrix(3, 1, mxREAL);
-    t_v = mxGetPr(plhs[1]);
-
-	t_v[0] = t.v[0];
-	t_v[1] = t.v[1];
-	t_v[2] = t.v[2];
-
-    plhs[2] = mxCreateDoubleMatrix(1, 1, mxREAL);
-    e_v = mxGetPr(plhs[2]);
-	e_v[0] = (double)err;
-
-    return;
-}