Revert "Expose camera intrinsic matrix API (#700)"

This reverts commit 581aaab.

Signed-off-by: Aditya <[email protected]>

include/gz/rendering/Camera.hh

@@ -196,13 +196,6 @@ namespace gz
       /// \return A pointer to the render window.
       public: virtual RenderWindowPtr CreateRenderWindow() = 0;
 
-      /// \brief Get the camera intrinsic matrix.
-      ///        This matrix is different than the matrix returned from
-      ///        ProjectionMatrix() which is used by OpenGL internally.
-      ///        The matrix returned contains the camera calibrated values.
-      /// \return intrinsic matrix
-      public: virtual math::Matrix3d CameraIntrinsicMatrix() const = 0;
-
       /// \brief Get the projection matrix for this camera
       /// \return Camera projection matrix
       public: virtual math::Matrix4d ProjectionMatrix() const = 0;

include/gz/rendering/base/BaseCamera.hh

@@ -110,9 +110,6 @@ namespace gz
       public: virtual VisualPtr VisualAt(const gz::math::Vector2i
                   &_mousePos) override;
 
-      // Documentation inherited.
-      public: virtual math::Matrix3d CameraIntrinsicMatrix() const override;
-
       // Documentation inherited.
       public: virtual math::Matrix4d ProjectionMatrix() const override;
 
@@ -507,26 +504,6 @@ namespace gz
       return RenderWindowPtr();
     }
 
-    //////////////////////////////////////////////////
-    template <class T>
-    math::Matrix3d BaseCamera<T>::CameraIntrinsicMatrix() const
-    {
-      // Extracting the intrinsic matrix :
-      // https://ogrecave.github.io/ogre/api/13/class_ogre_1_1_math.html
-      const math::Matrix4d& projectionMat = this->ProjectionMatrix();
-
-      const double width = static_cast<double>(this->ImageWidth());
-      const double height = static_cast<double>(this->ImageHeight());
-      double fX = (projectionMat(0, 0) * width) / 2.0;
-      double fY = (projectionMat(1, 1) * height) / 2.0;
-      double cX = (-1.0 * width * (projectionMat(0, 2) - 1.0)) / 2.0;
-      double cY = height + (height * (projectionMat(1, 2) - 1)) / 2.0;
-
-      return math::Matrix3d(fX, 0, cX,
-                            0, fY, cY,
-                            0, 0, 1);
-    }
-
     //////////////////////////////////////////////////
     template <class T>
     math::Matrix4d BaseCamera<T>::ProjectionMatrix() const

ogre/include/gz/rendering/ogre/OgreCamera.hh

@@ -81,9 +81,6 @@ namespace gz
       // Documentation inherited.
       public: virtual RenderWindowPtr CreateRenderWindow() override;
 
-      // Documentation inherited.
-      public: virtual math::Matrix3d CameraIntrinsicMatrix() const override;
-
       // Documentation inherited.
       public: virtual math::Matrix4d ProjectionMatrix() const override;
 

ogre/src/OgreCamera.cc

@@ -269,12 +269,6 @@ RenderWindowPtr OgreCamera::CreateRenderWindow()
   return base;
 }
 
-//////////////////////////////////////////////////
-math::Matrix3d OgreCamera::CameraIntrinsicMatrix() const
-{
-  return BaseCamera::CameraIntrinsicMatrix();
-}
-
 //////////////////////////////////////////////////
 math::Matrix4d OgreCamera::ProjectionMatrix() const
 {

ogre2/include/gz/rendering/ogre2/Ogre2Camera.hh

@@ -93,9 +93,6 @@ namespace gz
       // Documentation inherited.
       public: virtual RenderWindowPtr CreateRenderWindow() override;
 
-      // Documentation inherited.
-      public: virtual math::Matrix3d CameraIntrinsicMatrix() const override;
-
       // Documentation inherited.
       public: virtual math::Matrix4d ProjectionMatrix() const override;
 

ogre2/src/Ogre2Camera.cc

@@ -325,12 +325,6 @@ RenderWindowPtr Ogre2Camera::CreateRenderWindow()
   return RenderWindowPtr();
 }
 
-//////////////////////////////////////////////////
-math::Matrix3d Ogre2Camera::CameraIntrinsicMatrix() const
-{
-  return BaseCamera::CameraIntrinsicMatrix();
-}
-
 //////////////////////////////////////////////////
 math::Matrix4d Ogre2Camera::ProjectionMatrix() const
 {

test/common_test/Camera_TEST.cc

@@ -298,60 +298,3 @@ TEST_F(CameraTest, VisibilityMask)
   // Clean up
   engine->DestroyScene(scene);
 }
-
-TEST_F(CameraTest, IntrinsicMatrix)
-{
-  ScenePtr scene = engine->CreateScene("scene");
-  ASSERT_NE(nullptr, scene);
-
-  CameraPtr camera = scene->CreateCamera();
-  EXPECT_TRUE(camera != nullptr);
-
-  unsigned int width = 320;
-  unsigned int height = 240;
-  double hfov = 1.047;
-
-  camera->SetImageHeight(height);
-  camera->SetImageWidth(width);
-  camera->SetHFOV(hfov);
-
-  double error = 1e-1;
-  EXPECT_EQ(camera->ImageHeight(), height);
-  EXPECT_EQ(camera->ImageWidth(), width);
-  EXPECT_NEAR(camera->HFOV().Radian(), hfov, error);
-
-  // Verify focal length and optical center from intrinsics
-  auto cameraIntrinsics = camera->CameraIntrinsicMatrix();
-  EXPECT_NEAR(cameraIntrinsics(0, 0), 277.1913, error);
-  EXPECT_NEAR(cameraIntrinsics(1, 1), 277.1913, error);
-  EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 2), 160);
-  EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 2), 120);
-  // Verify rest of the intrinsics
-  EXPECT_EQ(cameraIntrinsics(0, 1), 0);
-  EXPECT_EQ(cameraIntrinsics(1, 0), 0);
-  EXPECT_EQ(cameraIntrinsics(0, 1), 0);
-  EXPECT_EQ(cameraIntrinsics(2, 0), 0);
-  EXPECT_EQ(cameraIntrinsics(2, 1), 0);
-  EXPECT_EQ(cameraIntrinsics(2, 2), 1);
-
-  // Verify that changing camera size changes intrinsics
-  height = 1000;
-  width = 1000;
-  camera->SetImageHeight(height);
-  camera->SetImageWidth(width);
-  camera->SetHFOV(hfov);
-
-  EXPECT_EQ(camera->ImageHeight(), height);
-  EXPECT_EQ(camera->ImageWidth(), width);
-  EXPECT_NEAR(camera->HFOV().Radian(), hfov, error);
-
-  // Verify if intrinsics have changed
-  cameraIntrinsics = camera->CameraIntrinsicMatrix();
-  EXPECT_NEAR(cameraIntrinsics(0, 0), 866.223, error);
-  EXPECT_NEAR(cameraIntrinsics(1, 1), 866.223, error);
-  EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 2), 500);
-  EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 2), 500);
-
-  // Clean up
-  engine->DestroyScene(scene);
-}