Remove unused struct member

include/cam_lidar_calibration/load_params.h

@@ -16,7 +16,6 @@ struct initial_parameters_t
   cv::Size board_dimensions;         // in millimetres
   cv::Point3d cb_translation_error;  // in millimetres
   cv::Mat cameramat;
-  int distcoeff_num;
   cv::Mat distcoeff;
   std::pair<int, int> image_size;  // in pixels
 };

src/load_params.cpp

@@ -21,47 +21,10 @@ void loadParams(const ros::NodeHandle& n, initial_parameters_t& i_params)
   cv::Mat(3, 3, CV_64F, camera_mat.data()).copyTo(i_params.cameramat);
   std::vector<double> dist_coeff;
   n.getParam("distcoeff", dist_coeff);
-  i_params.distcoeff_num = dist_coeff.size();
-  cv::Mat(1, i_params.distcoeff_num, CV_64F, dist_coeff.data()).copyTo(i_params.distcoeff);
+  cv::Mat(1, dist_coeff.size(), CV_64F, dist_coeff.data()).copyTo(i_params.distcoeff);
   n.getParam("image_size/l", i_l);
   n.getParam("image_size/b", i_b);
   i_params.image_size = std::make_pair(i_l, i_b);
-  /*
-  std::string pkg_loc = ros::package::getPath("cam_lidar_calibration");
-  std::ifstream infile(pkg_loc + "/cfg/initial_params.txt");
-
-  infile >> i_params.camera_topic;
-  infile >> i_params.lidar_topic;
-  infile >> i_params.fisheye_model;
-  infile >> i_params.lidar_ring_count;
-  infile >> cb_l;
-  infile >> cb_b;
-  i_params.grid_size = std::make_pair(cb_l, cb_b);
-  infile >> i_params.square_length;
-  infile >> l;
-  infile >> b;
-  i_params.board_dimension = std::make_pair(l, b);
-  infile >> e_l;
-  infile >> e_b;
-  i_params.cb_translation_error = std::make_pair(e_l, e_b);
-  double camera_mat[9];
-  for (int i = 0; i < 9; i++)
-  {
-    infile >> camera_mat[i];
-  }
-  cv::Mat(3, 3, CV_64F, &camera_mat).copyTo(i_params.cameramat);
-
-  infile >> i_params.distcoeff_num;
-  double dist_coeff[i_params.distcoeff_num];
-  for (int i = 0; i < i_params.distcoeff_num; i++)
-  {
-    infile >> dist_coeff[i];
-  }
-  cv::Mat(1, i_params.distcoeff_num, CV_64F, &dist_coeff).copyTo(i_params.distcoeff);
-  infile >> i_l;
-  infile >> i_b;
-  i_params.image_size = std::make_pair(i_l, i_b);
-  */
 }
 }  // namespace cam_lidar_calibration