Restoring previous optimal intersection computation for research

Author: nils-hamel

src/framework-structure.cpp

@@ -279,6 +279,27 @@ void Structure::computeOptimalPosition(unsigned int lowViewpoint){
 
 }
 
+//void Structure::computeOptimalPosition(){
+//    Eigen::Vector3d acc(Eigen::Vector3d::Zero());
+//    unsigned int count(0);
+//
+//    for(unsigned int i(0); i<features.size(); i++){
+//        for(unsigned int j(i+1); j<features.size(); j++){
+//
+//            acc+=compute_intersection(
+//                features[i]->getViewpoint()->getPosition(),
+//                features[i]->getModel(),
+//                features[j]->getViewpoint()->getPosition(),
+//                features[j]->getModel()
+//            );
+//            count++;
+//
+//        }
+//    }
+//    position=acc/count;
+//    optimised=true;
+//}
+
 void Structure::computeRadius(unsigned int lowViewpoint){
 
     // Feature position in absolute frame