--- a/Framework/Toolbox/LinearAlgebra.cpp	Fri Mar 16 13:02:17 2018 +0100
+++ b/Framework/Toolbox/LinearAlgebra.cpp	Fri Mar 16 13:19:23 2018 +0100
@@ -537,64 +537,6 @@
     }
 
   
-    void AlignVectorsWithRotation(Matrix& r,
-                                  const Vector& a,
-                                  const Vector& b)
-    {
-      // This is Rodrigues' rotation formula:
-      // https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula#Matrix_notation
-
-      // Check also result A4.6 from "Multiple View Geometry in Computer
-      // Vision - 2nd edition" (p. 584)
-  
-      if (a.size() != 3 ||
-          b.size() != 3)
-      {
-        throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
-      }
-
-      double aNorm = boost::numeric::ublas::norm_2(a);
-      double bNorm = boost::numeric::ublas::norm_2(b);
-
-      if (LinearAlgebra::IsCloseToZero(aNorm) ||
-          LinearAlgebra::IsCloseToZero(bNorm))
-      {
-        LOG(ERROR) << "Vector with zero norm";
-        throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);      
-      }
-
-      Vector aUnit, bUnit;
-      aUnit = a / aNorm;
-      bUnit = b / bNorm;
-
-      Vector v;
-      LinearAlgebra::CrossProduct(v, aUnit, bUnit);
-
-      double cosine = boost::numeric::ublas::inner_prod(aUnit, bUnit);
-
-      if (LinearAlgebra::IsCloseToZero(1 + cosine))
-      {
-        // "a == -b": TODO
-        throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
-      }
-
-      Matrix k;
-      CreateSkewSymmetric(k, v);
-
-#if 0
-      double sine = boost::numeric::ublas::norm_2(v);
-
-      r = (boost::numeric::ublas::identity_matrix<double>(3) +
-           sine * k + 
-           (1 - cosine) * boost::numeric::ublas::prod(k, k));
-#else
-      r = (boost::numeric::ublas::identity_matrix<double>(3) +
-           k + 
-           boost::numeric::ublas::prod(k, k) / (1 + cosine));
-#endif
-    }
-
-
     Matrix InvertScalingTranslationMatrix(const Matrix& t)
     {
       if (t.size1() != 4 ||