further cleanup before moving to sharedPtrs
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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),
 | ||||
|  |  | |||
|  | @ -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; | ||||
|  |  | |||
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