cleaned up a few includes to make VSLAMGraph work properly after the move into gtsam.

cpp/Makefile.am

@@ -139,7 +139,7 @@ testSimulated3D_LDADD = libgtsam.la
 check_PROGRAMS += testSimulated3D 
 
 # Visual SLAM
-sources += CalibratedCamera.cpp SimpleCamera.cpp VSLAMConfig.cpp VSLAMFactor.cpp
+sources += CalibratedCamera.cpp SimpleCamera.cpp VSLAMConfig.cpp VSLAMGraph.cpp VSLAMFactor.cpp
 check_PROGRAMS += testCalibratedCamera testSimpleCamera testVSLAMFactor
 testCalibratedCamera_SOURCES = testCalibratedCamera.cpp
 testCalibratedCamera_LDADD = libgtsam.la

cpp/VSLAMGraph.cpp

@@ -9,13 +9,14 @@
 #include <fstream>
 #include <boost/foreach.hpp>
 
-//#include "VSLAMFactor.h"
 #include "VSLAMGraph.h"
 
 using namespace std;
-using namespace gtsam;
+namespace gtsam{
 
 /* ************************************************************************* */
+//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);
@@ -98,3 +99,5 @@ VSLAMGraph::VSLAMGraph(const std::string& path,
 
 /* ************************************************************************* */
 
+} // namespace gtsam
+

cpp/VSLAMGraph.h

@@ -5,7 +5,6 @@
  * @author  Carlos Nieto
  */
 
-
 #pragma once
 
 #include <vector>
@@ -13,15 +12,13 @@
 #include <set>
 #include <fstream>
 
-#include <gtsam/NonlinearFactorGraph.h>
-#include <gtsam/FactorGraph-inl.h>
+#include "NonlinearFactorGraph.h"
+#include "FactorGraph-inl.h"
 #include "VSLAMFactor.h"
-#include "VSLAMFactor0.h"
-#include "StereoFactor.h"
 #include "VSLAMConfig.h"
 
-
 using namespace std;
+namespace gtsam{
 
 /**
  * Non-linear factor graph for visual SLAM
@@ -64,3 +61,5 @@ public:
   int Get_nFeat_ids(){return feat_ids.size();};
   feat_ids_type* Get_feat_ids_map(){return &feat_ids;};
 };
+
+} // namespace gtsam