From 51e60cc8e0ecc31f2a5a1108ba8887c054cf6fb3 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Thu, 12 Jan 2023 13:39:52 -0800
Subject: [PATCH] sfm

---
 gtsam/sfm/DsfTrackGenerator.h | 6 +++---
 gtsam/sfm/SfmData.cpp         | 4 ++--
 gtsam/sfm/SfmData.h           | 8 ++++----
 gtsam/sfm/ShonanGaugeFactor.h | 4 ++--
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 14ec2302d..518a5d10b 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -43,13 +43,13 @@ struct Keypoints {
 
   // Optional scale of the detections, of shape N.
   // Note: gtsam::Vector is typedef'd for Eigen::VectorXd.
-  boost::optional<gtsam::Vector> scales;
+  std::optional<gtsam::Vector> scales;
 
   /// Optional confidences/responses for each detection, of shape N.
-  boost::optional<gtsam::Vector> responses;
+  std::optional<gtsam::Vector> responses;
 
   Keypoints(const Eigen::MatrixX2d& coordinates)
-      : coordinates(coordinates){};  // boost::none
+      : coordinates(coordinates){};  // std::nullopt
 };
 
 using KeypointsVector = std::vector<Keypoints>;
diff --git a/gtsam/sfm/SfmData.cpp b/gtsam/sfm/SfmData.cpp
index 6c2676e48..1e27c332f 100644
--- a/gtsam/sfm/SfmData.cpp
+++ b/gtsam/sfm/SfmData.cpp
@@ -424,8 +424,8 @@ NonlinearFactorGraph SfmData::generalSfmFactors(
 
 /* ************************************************************************** */
 NonlinearFactorGraph SfmData::sfmFactorGraph(
-    const SharedNoiseModel &model, boost::optional<size_t> fixedCamera,
-    boost::optional<size_t> fixedPoint) const {
+    const SharedNoiseModel &model, std::optional<size_t> fixedCamera,
+    std::optional<size_t> fixedPoint) const {
   NonlinearFactorGraph graph = generalSfmFactors(model);
   using noiseModel::Constrained;
   if (fixedCamera) {
diff --git a/gtsam/sfm/SfmData.h b/gtsam/sfm/SfmData.h
index f445d74da..6b69523a9 100644
--- a/gtsam/sfm/SfmData.h
+++ b/gtsam/sfm/SfmData.h
@@ -102,14 +102,14 @@ struct GTSAM_EXPORT SfmData {
    * Note: pose keys are simply integer indices, points use Symbol('p', j).
    *
    * @param model a noise model for projection errors
-   * @param fixedCamera which camera to fix, if any (use boost::none if none)
-   * @param fixedPoint which point to fix, if any (use boost::none if none)
+   * @param fixedCamera which camera to fix, if any (use std::nullopt if none)
+   * @param fixedPoint which point to fix, if any (use std::nullopt if none)
    * @return NonlinearFactorGraph
    */
   NonlinearFactorGraph sfmFactorGraph(
       const SharedNoiseModel& model = noiseModel::Isotropic::Sigma(2, 1.0),
-      boost::optional<size_t> fixedCamera = 0,
-      boost::optional<size_t> fixedPoint = 0) const;
+      std::optional<size_t> fixedCamera = 0,
+      std::optional<size_t> fixedPoint = 0) const;
 
   /// @}
   /// @name Testable
diff --git a/gtsam/sfm/ShonanGaugeFactor.h b/gtsam/sfm/ShonanGaugeFactor.h
index d814aafa1..3152ad9d0 100644
--- a/gtsam/sfm/ShonanGaugeFactor.h
+++ b/gtsam/sfm/ShonanGaugeFactor.h
@@ -56,7 +56,7 @@ public:
    * the Jacobian will be multiplied with 1/sigma = sqrt(gamma).
    */
   ShonanGaugeFactor(Key key, size_t p, size_t d = 3,
-                    boost::optional<double> gamma = boost::none)
+                    std::optional<double> gamma = {})
       : NonlinearFactor(KeyVector{key}) {
     if (p < d) {
       throw std::invalid_argument("ShonanGaugeFactor must have p>=d.");
@@ -103,4 +103,4 @@ public:
 };
 // \ShonanGaugeFactor
 
-} // namespace gtsam
\ No newline at end of file
+} // namespace gtsam