remove unusede ptr member in MFAS

gtsam/gtsam.i

@@ -2972,6 +2972,7 @@ class BinaryMeasurement {
   size_t key1() const;
   size_t key2() const;
   T measured() const;
+  gtsam::noiseModel::Base* noiseModel() const;
 };
 
 typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3;
@@ -3118,8 +3119,7 @@ class KeyPairDoubleMap {
 };
 
 class MFAS {
-  MFAS(const gtsam::KeyVector* nodes,
+  MFAS(const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
-       const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
        const gtsam::Unit3& projectionDirection);
 
   gtsam::KeyPairDoubleMap computeOutlierWeights() const;

gtsam/sfm/MFAS.cpp

@@ -113,10 +113,8 @@ void removeNodeFromGraph(const Key node,
   graph.erase(node);
 }
 
-MFAS::MFAS(const boost::shared_ptr<vector<Key>> nodes,
+MFAS::MFAS(const TranslationEdges& relativeTranslations,
-           const TranslationEdges& relativeTranslations,
+           const Unit3& projectionDirection) {
-           const Unit3& projectionDirection)
-    : nodes_(nodes) {
   // Iterate over edges, obtain weights by projecting
   // their relativeTranslations along the projection direction
   for (const auto& measurement : relativeTranslations) {

gtsam/sfm/MFAS.h

@@ -22,8 +22,6 @@
 #include <gtsam/inference/Key.h>
 #include <gtsam/sfm/BinaryMeasurement.h>
 
-#include <boost/shared_ptr.hpp>
-
 #include <memory>
 #include <unordered_map>
 #include <vector>
@@ -58,40 +56,28 @@ class MFAS {
   using TranslationEdges = std::vector<BinaryMeasurement<Unit3>>;
 
  private:
-  // pointer to nodes in the graph
-  const boost::shared_ptr<std::vector<Key>> nodes_;
-
   // edges with a direction such that all weights are positive
   // i.e, edges that originally had negative weights are flipped
   std::map<KeyPair, double> edgeWeights_;
 
  public:
   /**
-   * @brief Construct from the nodes in a graph and weighted directed edges
+   * @brief Construct from the weighted directed edges
    * between the nodes. Each node is identified by a Key.
-   * A shared pointer to the nodes is used as input parameter
-   * because, MFAS ordering is usually used to compute the ordering of a
-   * large graph that is already stored in memory. It is unnecessary to make a
-   * copy of the nodes in this class.
-   * @param nodes: Nodes in the graph
    * @param edgeWeights: weights of edges in the graph
    */
-  MFAS(const boost::shared_ptr<std::vector<Key>> nodes,
+  MFAS(const std::map<KeyPair, double> &edgeWeights)
-       const std::map<KeyPair, double> &edgeWeights)
+      : edgeWeights_(edgeWeights) {}
-      : nodes_(nodes), edgeWeights_(edgeWeights) {}
 
   /**
    * @brief Constructor to be used in the context of translation averaging.
    * Here, the nodes of the graph are cameras in 3D and the edges have a unit
    * translation direction between them. The weights of the edges is computed by
    * projecting them along a projection direction.
-   * @param nodes cameras in the epipolar graph (each camera is identified by a
-   * Key)
    * @param relativeTranslations translation directions between the cameras
    * @param projectionDirection direction in which edges are to be projected
    */
-  MFAS(const boost::shared_ptr<std::vector<Key>> nodes,
+  MFAS(const TranslationEdges &relativeTranslations,
-       const TranslationEdges &relativeTranslations,
        const Unit3 &projectionDirection);
 
   /**
@@ -101,7 +87,7 @@ class MFAS {
   std::vector<Key> computeOrdering() const;
 
   /**
-   * @brief Computes the "outlier weights" of the graph. We define the outlier
+   * @brief Computes the outlier weights of the graph. We define the outlier
    * weight of a edge to be zero if the edge is an inlier and the magnitude of
    * its edgeWeight if it is an outlier. This function internally calls
    * computeOrdering and uses the obtained ordering to identify outlier edges.

gtsam/sfm/tests/testMFAS.cpp

@@ -7,8 +7,6 @@
 
 #include <gtsam/sfm/MFAS.h>
 
-#include <boost/shared_ptr.hpp>
-#include <boost/make_shared.hpp>
 #include <CppUnitLite/TestHarness.h>
 
 #include <iostream>
@@ -43,14 +41,13 @@ map<MFAS::KeyPair, double> getEdgeWeights(const vector<MFAS::KeyPair> &edges,
   for (size_t i = 0; i < edges.size(); i++) {
     edgeWeights[edges[i]] = weights[i];
   }
-  cout << "returning edge weights " << edgeWeights.size() << endl;
   return edgeWeights;
 }
 
 // test the ordering and the outlierWeights function using weights2 - outlier
 // edge is rejected when projected in a direction that gives weights2
 TEST(MFAS, OrderingWeights2) {
-  MFAS mfas_obj(boost::make_shared<vector<Key>>(nodes), getEdgeWeights(edges, weights2));
+  MFAS mfas_obj(getEdgeWeights(edges, weights2));
 
   vector<Key> ordered_nodes = mfas_obj.computeOrdering();
 
@@ -80,7 +77,7 @@ TEST(MFAS, OrderingWeights2) {
 // weights1 (outlier edge is accepted when projected in a direction that
 // produces weights1)
 TEST(MFAS, OrderingWeights1) {
-  MFAS mfas_obj(boost::make_shared<vector<Key>>(nodes), getEdgeWeights(edges, weights1));
+  MFAS mfas_obj(getEdgeWeights(edges, weights1));
 
   vector<Key> ordered_nodes = mfas_obj.computeOrdering();