From 236c02eb52166508ece25f22b4b088fd3e7f5e40 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Wed, 11 Jan 2023 13:49:07 -0800
Subject: [PATCH] examples folder

---
 examples/ISAM2Example_SmartFactor.cpp | 2 +-
 examples/SFMExample_SmartFactor.cpp   | 2 +-
 examples/TriangulationLOSTExample.cpp | 6 +++---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/examples/ISAM2Example_SmartFactor.cpp b/examples/ISAM2Example_SmartFactor.cpp
index 7dbd8323b..a874efc9a 100644
--- a/examples/ISAM2Example_SmartFactor.cpp
+++ b/examples/ISAM2Example_SmartFactor.cpp
@@ -105,7 +105,7 @@ int main(int argc, char* argv[]) {
     Values currentEstimate = isam.calculateEstimate();
     currentEstimate.print("Current estimate: ");
 
-    boost::optional<Point3> pointEstimate = smartFactor->point(currentEstimate);
+    auto pointEstimate = smartFactor->point(currentEstimate);
     if (pointEstimate) {
       cout << *pointEstimate << endl;
     } else {
diff --git a/examples/SFMExample_SmartFactor.cpp b/examples/SFMExample_SmartFactor.cpp
index 86e6b8ae9..9d90cd897 100644
--- a/examples/SFMExample_SmartFactor.cpp
+++ b/examples/SFMExample_SmartFactor.cpp
@@ -116,7 +116,7 @@ int main(int argc, char* argv[]) {
     if (smart) {
       // The output of point() is in boost::optional<Point3>, as sometimes
       // the triangulation operation inside smart factor will encounter degeneracy.
-      boost::optional<Point3> point = smart->point(result);
+      auto point = smart->point(result);
       if (point) // ignore if boost::optional return nullptr
         landmark_result.insert(j, *point);
     }
diff --git a/examples/TriangulationLOSTExample.cpp b/examples/TriangulationLOSTExample.cpp
index a862026e0..923606995 100644
--- a/examples/TriangulationLOSTExample.cpp
+++ b/examples/TriangulationLOSTExample.cpp
@@ -131,17 +131,17 @@ int main(int argc, char* argv[]) {
         AddNoiseToMeasurements(measurements, measurementSigma);
 
     auto lostStart = std::chrono::high_resolution_clock::now();
-    boost::optional<Point3> estimateLOST = triangulatePoint3<Cal3_S2>(
+    auto estimateLOST = triangulatePoint3<Cal3_S2>(
         cameras, noisyMeasurements, rank_tol, false, measurementNoise, true);
     durationLOST += std::chrono::high_resolution_clock::now() - lostStart;
 
     auto dltStart = std::chrono::high_resolution_clock::now();
-    boost::optional<Point3> estimateDLT = triangulatePoint3<Cal3_S2>(
+    auto estimateDLT = triangulatePoint3<Cal3_S2>(
         cameras, noisyMeasurements, rank_tol, false, measurementNoise, false);
     durationDLT += std::chrono::high_resolution_clock::now() - dltStart;
 
     auto dltOptStart = std::chrono::high_resolution_clock::now();
-    boost::optional<Point3> estimateDLTOpt = triangulatePoint3<Cal3_S2>(
+    auto estimateDLTOpt = triangulatePoint3<Cal3_S2>(
         cameras, noisyMeasurements, rank_tol, true, measurementNoise, false);
     durationDLTOpt += std::chrono::high_resolution_clock::now() - dltOptStart;