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further cleanup before moving to sharedPtrs

release/4.3a0
lcarlone 2021-11-07 18:12:19 -05:00
parent 2c2e43ee5b
commit ac5875671f
2 changed files with 1 additions and 61 deletions
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3
gtsam/slam/SmartProjectionRigFactor.h
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@ -62,8 +62,7 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
/// vector of keys (one for each observation) with potentially repeated keys
KeyVector nonUniqueKeys_;
/// cameras in the rig (fixed poses wrt body + fixed intrinsics, for each
/// camera)
/// cameras in the rig (fixed poses wrt body and intrinsics, for each camera)
typename Base::Cameras cameraRig_;
/// vector of camera Ids (one for each observation, in the same order),

59
gtsam/slam/tests/testSmartProjectionRigFactor.cpp
View File

@ -578,11 +578,6 @@ TEST(SmartProjectionRigFactor, 3poses_iterative_smart_projection_factor) {
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
std::vector<boost::shared_ptr<Cal3_S2>> sharedKs;
sharedKs.push_back(sharedK);
sharedKs.push_back(sharedK);
sharedKs.push_back(sharedK);
// create smart factor
Cameras cameraRig; // single camera in the rig
cameraRig.push_back(Camera(Pose3::identity(), sharedK));
@ -1254,60 +1249,6 @@ TEST(SmartProjectionRigFactor, timing) {
}
#endif
///* **************************************************************************/
// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained,
// "gtsam_noiseModel_Constrained");
// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal,
// "gtsam_noiseModel_Diagonal");
// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian,
// "gtsam_noiseModel_Gaussian");
// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
// BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,
// "gtsam_noiseModel_Isotropic");
// BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
// BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
//
// TEST(SmartProjectionRigFactor, serialize) {
// using namespace vanillaRig;
// using namespace gtsam::serializationTestHelpers;
// SmartProjectionParams params(
// gtsam::HESSIAN,
// gtsam::ZERO_ON_DEGENERACY); // only config that works with rig factors
// params.setRankTolerance(rankTol);
//
// Cameras cameraRig; // single camera in the rig
// cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
//
// SmartRigFactor factor(model, cameraRig, params);
//
// EXPECT(equalsObj(factor));
// EXPECT(equalsXML(factor));
// EXPECT(equalsBinary(factor));
//}
//
//// SERIALIZATION TEST FAILS: to be fixed
////TEST(SmartProjectionRigFactor, serialize2) {
//// using namespace vanillaRig;
//// using namespace gtsam::serializationTestHelpers;
//// SmartProjectionParams params;
//// params.setRankTolerance(rankTol);
//// SmartRigFactor factor(model, params);
////
//// // insert some measurements
//// KeyVector key_view;
//// Point2Vector meas_view;
//// std::vector<boost::shared_ptr<Cal3_S2>> sharedKs;
////
//// key_view.push_back(Symbol('x', 1));
//// meas_view.push_back(Point2(10, 10));
//// sharedKs.push_back(sharedK);
//// factor.add(meas_view, key_view, sharedKs);
////
//// EXPECT(equalsObj(factor));
//// EXPECT(equalsXML(factor));
//// EXPECT(equalsBinary(factor));
////}
/* ************************************************************************* */
int main() {
TestResult tr;