cleaned up, and removed Testable here because it's already provided by base class FactorGraph

cpp/VSLAMGraph.cpp

@@ -24,66 +24,7 @@ template class NonlinearFactorGraph<VSLAMConfig>;
 template class NonlinearOptimizer<VSLAMGraph,VSLAMConfig>;
 
 /* ************************************************************************* */
-//TODO: CB: This constructor is specific to loading VO data. Should probably
-//      get rid of this.
-VSLAMGraph::VSLAMGraph(const std::string& path)
-{
-  ifstream ifs(path.c_str(), ios::in);
 
-  if(ifs) {
-    // read calibration K
-    double fx, fy, s, u0, v0;
-    ifs >> fx >> fy >> s >> u0 >> v0;
-    Cal3_S2 K(fx, fy, s, u0, v0);
-
-    // read sigma
-    double sigma;
-    ifs >> sigma;
-
-    // read number of frames
-    int nrFrames;
-    ifs >> nrFrames;
-    nFrames = nrFrames;
-
-    // read all frames
-    for (int i=0;i<nrFrames;i++) {
-      int nrMeasurements;
-      ifs >> nrMeasurements;
-      // read all measurements in ith frame
-      for (int k=0;k<nrMeasurements;k++) {
-        int j; // landmark number
-        double u, v;
-        ifs >> j >> u >> v;
-        Point2 z(u,v);
-
-        // this works
-        //VSLAMFactor::shared_ptr testing(new VSLAMFactor());
-        //factors_.push_back(testing);
-
-        VSLAMFactor::shared_ptr f1(new VSLAMFactor::VSLAMFactor(z.vector(), sigma, i+1, j,
-        		VSLAMFactor::shared_ptrK(new Cal3_S2(K))));
-        factors_.push_back(f1);
-        //cout << "Added factor " << i+1 << endl;
-        // just to keep a record of all the feature id's that have been encountered
-        // value is unused/useless right now, but could be used to keep count
-        feat_ids.insert(pair<int, int>(j,0));
-      }
-    }
-  }
-  else {
-    printf("Unable to load values in %s\n", path.c_str());
-    exit(0);
-  }
-
-  ifs.close();
-}
-
-/* ************************************************************************* */
-bool VSLAMGraph::equals(const VSLAMGraph& p, double tol) const {
-  if (&p == NULL) return false;
-  if (nFrames != p.nFrames || feat_ids != p.feat_ids ) return false;
-  return true;
-}
 
 /* ************************************************************************* */
 bool compareLandmark(const std::string& key,

cpp/VSLAMGraph.h

@@ -23,23 +23,13 @@ namespace gtsam{
 /**
  * Non-linear factor graph for visual SLAM
  */
-class VSLAMGraph : public gtsam::NonlinearFactorGraph<VSLAMConfig>, Testable<VSLAMGraph>{
+class VSLAMGraph : public gtsam::NonlinearFactorGraph<VSLAMConfig>{
-private:
-	int nFrames;
-	typedef map <int, int> feat_ids_type;
-	feat_ids_type feat_ids;
 
 public:
 
   /** default constructor is empty graph */
   VSLAMGraph() {}
 
-  /**
-   * Constructor that loads measurements from file
-   * @param path to the file
-   */
-  VSLAMGraph(const std::string& path);
-
   /**
    * print out graph
    */
@@ -50,12 +40,9 @@ public:
   /**
    * equals
    */
-  bool equals(const VSLAMGraph&, double tol=1e-9) const;
+  bool equals(const VSLAMGraph& p, double tol=1e-9) const {
-
+  	return gtsam::NonlinearFactorGraph<VSLAMConfig>::equals(p, tol);
-  // Getters
+  }
-  int Get_nFrames(){return nFrames;};
-  int Get_nFeat_ids(){return feat_ids.size();};
-  feat_ids_type* Get_feat_ids_map(){return &feat_ids;};
 
   /**
    *  Add a constraint on a landmark (for now, *must* be satisfied in any Config)
@@ -75,10 +62,7 @@ private:
 	/** Serialization function */
 	friend class boost::serialization::access;
 	template<class Archive>
-	void serialize(Archive & ar, const unsigned int version) {
+	void serialize(Archive & ar, const unsigned int version) {}
-		ar & BOOST_SERIALIZATION_NVP(nFrames);
-		ar & BOOST_SERIALIZATION_NVP(feat_ids);
-	}
 };
 
 } // namespace gtsam