Cleaned u uninitialized shared ptrs

gtsam/slam/SmartProjectionFactor.h

@@ -171,7 +171,7 @@ public:
   /// triangulate
   bool triangulateForLinearize(const Cameras& cameras) const {
     triangulateSafe(cameras); // imperative, might reset result_
-    return (manageDegeneracy_ || result_);
+    return (result_);
   }
 
   /// linearize returns a Hessianfactor that is an approximation of error(p)

gtsam/slam/tests/testSmartProjectionCameraFactor.cpp

@@ -822,6 +822,7 @@ TEST( SmartProjectionCameraFactor, implicitJacobianFactor ) {
   implicitFactor->add(level_uv_right, c2, unit2);
   GaussianFactor::shared_ptr gaussianImplicitSchurFactor =
       implicitFactor->linearize(values);
+  CHECK(gaussianImplicitSchurFactor);
   typedef RegularImplicitSchurFactor<Camera> Implicit9;
   Implicit9& implicitSchurFactor =
       dynamic_cast<Implicit9&>(*gaussianImplicitSchurFactor);