1 files changed, 0 insertions, 39 deletions
diff --git a/opentrack/simple-mat.cpp b/opentrack/simple-mat.cpp
index 645bcbbe..4ab68e0f 100644
--- a/opentrack/simple-mat.cpp
+++ b/opentrack/simple-mat.cpp
@@ -9,46 +9,8 @@ enum Axis
     TX, TY, TZ, Yaw, Pitch, Roll
 };
 
-static constexpr double eps_ = 2e1;
-static constexpr double d2r = pi / 180;
-static constexpr double eps = eps_ * d2r;
-
-euler_t euler_filter(const euler_t& rot_)
-{
-    using std::fabs;
-    using std::copysign;
-
-    euler_t rot(rot_);
-
-    static constexpr double thres[] =
-    {
-        pi, pi/2, pi
-    };
-
-    double changed_eps[] = { 0, 0, 0 };
-
-    for (int i = 0; i < 3; i++)
-        if (fabs(rot(i)) > thres[i] - eps && fabs(rot(i)) < thres[i] + eps)
-        {
-            const double eps__ = copysign(eps, rot(i));
-            changed_eps[i] = eps__;
-
-            rot(i) -= eps__;
-            rot = rmat_to_euler(euler_to_rmat(rot));
-        }
-
-    for (int i = 0; i < 3; i++)
-    {
-        rot(i) += changed_eps[i];
-        if (fabs(rot(i)) > 2*pi)
-            rot(i) = copysign(2*pi, rot(i));
-    }
-    return rot;
-}
-
 euler_t rmat_to_euler(const dmat<3, 3>& R)
 {
-    static constexpr double pi = 3.141592653;
     const double pitch_1 = asin(-R(0, 2));
     const double pitch_2 = pi - pitch_1;
     const double cos_p1 = cos(pitch_1), cos_p2 = cos(pitch_2);
@@ -74,7 +36,6 @@ euler_t rmat_to_euler(const dmat<3, 3>& R)
 // tait-bryan angles, not euler
 rmat euler_to_rmat(const double* input)
 {
-    static constexpr double pi = 3.141592653;
     auto H = input[0] * pi / 180;
     auto P = input[1] * pi / 180;
     auto B = input[2] * pi / 180;