diff --git a/modules/3d/src/rgbd/odometry_functions.hpp b/modules/3d/src/rgbd/odometry_functions.hpp
index c1fd2ca584..eca32357f7 100644
--- a/modules/3d/src/rgbd/odometry_functions.hpp
+++ b/modules/3d/src/rgbd/odometry_functions.hpp
@@ -31,16 +31,6 @@ static inline int getTransformDim(OdometryTransformType transformType)
 }
 
 
-static inline
-void checkNormals(InputArray normals, const Size& depthSize)
-{
-    if (normals.size() != depthSize)
-        CV_Error(Error::StsBadSize, "Normals has to have the size equal to the depth size.");
-    if (normals.type() != CV_32FC3)
-        CV_Error(Error::StsBadSize, "Normals type has to be CV_32FC3.");
-}
-
-
 static inline
 Vec6d calcRgbdEquationCoeffs(double dIdx, double dIdy, const Point3f& p3d, double fx, double fy)
 {