removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo

examples/CameraResectioning.cpp

@@ -32,15 +32,15 @@ using symbol_shorthand::X;
 class ResectioningFactor: public NoiseModelFactor1<Pose3> {
   typedef NoiseModelFactor1<Pose3> Base;
 
-  shared_ptrK K_; // camera's intrinsic parameters
-  Point3 P_; // 3D point on the calibration rig
-  Point2 p_; // 2D measurement of the 3D point
+  Cal3_S2::shared_ptr K_; ///< camera's intrinsic parameters
+  Point3 P_;              ///< 3D point on the calibration rig
+  Point2 p_;              ///< 2D measurement of the 3D point
 
 public:
 
   /// Construct factor given known point P and its projection p
   ResectioningFactor(const SharedNoiseModel& model, const Key& key,
-      const shared_ptrK& calib, const Point2& p, const Point3& P) :
+      const Cal3_S2::shared_ptr& calib, const Point2& p, const Point3& P) :
       Base(model, key), K_(calib), P_(P), p_(p) {
   }
 
@@ -63,7 +63,7 @@ public:
  *******************************************************************************/
 int main(int argc, char* argv[]) {
   /* read camera intrinsic parameters */
-  shared_ptrK calib(new Cal3_S2(1, 1, 0, 50, 50));
+  Cal3_S2::shared_ptr calib(new Cal3_S2(1, 1, 0, 50, 50));
 
   /* 1. create graph */
   NonlinearFactorGraph graph;

gtsam/geometry/Cal3_S2.h

@@ -187,8 +187,4 @@ namespace gtsam {
 
   };
 
-
-
-  typedef boost::shared_ptr<Cal3_S2> shared_ptrK;  ///< shared pointer to calibration object
-
-} // gtsam
+} // \ namespace gtsam

gtsam/geometry/Cal3_S2Stereo.h

@@ -111,7 +111,4 @@ namespace gtsam {
     /// @}
 
   };
-
-  typedef boost::shared_ptr<Cal3_S2Stereo> shared_ptrKStereo;  ///< shared pointer to stereo calibration object
-
-}
+} // \ namespace gtsam

gtsam/slam/StereoFactor.h

@@ -33,16 +33,16 @@ private:
 
   // Keep a copy of measurement and calibration for I/O
   StereoPoint2 measured_;                      ///< the measurement
-  boost::shared_ptr<Cal3_S2Stereo> K_;  ///< shared pointer to calibration
-  boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame
+  Cal3_S2Stereo::shared_ptr K_;                ///< shared pointer to calibration
+  boost::optional<POSE> body_P_sensor_;        ///< The pose of the sensor in the body frame
 
 public:
 
   // shorthand for base class type
-  typedef NoiseModelFactor2<POSE, LANDMARK> Base;               ///< typedef for base class
+  typedef NoiseModelFactor2<POSE, LANDMARK> Base;             ///< typedef for base class
   typedef GenericStereoFactor<POSE, LANDMARK> This;           ///< typedef for this class (with templates)
   typedef boost::shared_ptr<GenericStereoFactor> shared_ptr;  ///< typedef for shared pointer to this object
-  typedef POSE CamPose;                        ///< typedef for Pose Lie Value type
+  typedef POSE CamPose;                                       ///< typedef for Pose Lie Value type
 
   /**
    * Default constructor
@@ -58,7 +58,7 @@ public:
    * @param K the constant calibration
    */
   GenericStereoFactor(const StereoPoint2& measured, const SharedNoiseModel& model,
-      Key poseKey, Key landmarkKey, const shared_ptrKStereo& K,
+      Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr& K,
       boost::optional<POSE> body_P_sensor = boost::none) :
     Base(model, poseKey, landmarkKey), measured_(measured), K_(K), body_P_sensor_(body_P_sensor) {
   }

gtsam_unstable/slam/InvDepthFactor3.h

@@ -56,7 +56,7 @@ public:
    * @param K shared pointer to the constant calibration
    */
   InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model,
-      const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const gtsam::shared_ptrK& K) :
+      const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const Cal3_S2::shared_ptr& K) :
         Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {}
 
   /** Virtual destructor */

matlab.h

@@ -25,6 +25,7 @@
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Pose3.h>
+#include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/SimpleCamera.h>
 
 #include <exception>
@@ -114,7 +115,7 @@ namespace gtsam {
 
     /// insert multiple projection factors for a single pose key
     void insertProjectionFactors(NonlinearFactorGraph& graph, Key i, const Vector& J, const Matrix& Z,
-        const SharedNoiseModel& model, const shared_ptrK K, const Pose3& body_P_sensor = Pose3()) {
+        const SharedNoiseModel& model, const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) {
       if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K");
       if (Z.cols() != J.size()) throw std::invalid_argument(
             "addMeasurements: J and Z must have same number of entries");