From 2d1126019a342e690568a93171ac9bbb32450c57 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 10 Mar 2015 22:32:30 -0700
Subject: [PATCH] Cleaned u uninitialized shared ptrs

---
 gtsam/slam/SmartProjectionFactor.h                   | 2 +-
 gtsam/slam/tests/testSmartProjectionCameraFactor.cpp | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index 138a29f0a..bf6d20c45 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/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)
diff --git a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp b/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
index ca346e83e..b5ddc4e25 100644
--- a/gtsam/slam/tests/testSmartProjectionCameraFactor.cpp
+++ b/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);