removed unused code

Change-Id: I006c9873f146c43d4283e15a6b4387f7d7b90ccb
PointCloudLibrary · Aug 22, 2016 · 07cfa84 · 07cfa84
1 parent 5bc058e
commit 07cfa84
Showing 1 changed file with 0 additions and 7 deletions.
diff --git a/registration/include/pcl/registration/impl/gicp.hpp b/registration/include/pcl/registration/impl/gicp.hpp
@@ -460,13 +460,6 @@ pcl::GeneralizedIterativeClosestPoint<PointSource, PointTarget>::computeTransfor
     else
       PCL_DEBUG ("[pcl::%s::computeTransformation] Convergence failed\n", getClassName ().c_str ());
   }
-  //for some reason the static equivalent methode raises an error
-  // final_transformation_.block<3,3> (0,0) = (transformation_.block<3,3> (0,0)) * (guess.block<3,3> (0,0));
-  // final_transformation_.block <3, 1> (0, 3) = transformation_.block <3, 1> (0, 3) + guess.rightCols<1>.block <3, 1> (0, 3);
-  // final_transformation_.topLeftCorner (3,3) = previous_transformation_.topLeftCorner (3,3) * guess.topLeftCorner (3,3);
-  // final_transformation_(0,3) = previous_transformation_(0,3) + guess(0,3);
-  // final_transformation_(1,3) = previous_transformation_(1,3) + guess(1,3);
-  // final_transformation_(2,3) = previous_transformation_(2,3) + guess(2,3);
   final_transformation_ = previous_transformation_ * guess;
 
   // Transform the point cloud