moved common definitions to base class

gtsam/slam/SmartFactorBase.h

@@ -36,6 +36,16 @@
 
 namespace gtsam {
 
+/// Linearization mode: what factor to linearize to
+enum LinearizationMode {
+  HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD
+};
+
+/// How to manage degeneracy
+enum DegeneracyMode {
+  IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY
+};
+
 /**
  * @brief  Base class for smart factors
  * This base class has no internal point, but it has a measurement, noise model

gtsam/slam/SmartProjectionFactor.h

@@ -31,16 +31,6 @@
 
 namespace gtsam {
 
-/// Linearization mode: what factor to linearize to
-enum LinearizationMode {
-  HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD
-};
-
-/// How to manage degeneracy
-enum DegeneracyMode {
-  IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY
-};
-
 /*
  *  Parameters for the smart projection factors
  */

gtsam_unstable/slam/SmartStereoProjectionFactor.h

@@ -35,17 +35,7 @@
 
 namespace gtsam {
 
-/// Linearization mode: what factor to linearize to
- enum LinearizationMode {
-   HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD
- };
-
-/// How to manage degeneracy
-enum DegeneracyMode {
-   IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY
- };
-
- /*
+  /*
   *  Parameters for the smart stereo projection factors
   */
  struct GTSAM_EXPORT SmartStereoProjectionParams {
@@ -257,7 +247,7 @@ public:
       const StereoPoint2 zi = measured_[i];
       monoCameras.push_back(leftCamera_i);
       monoMeasured.push_back(Point2(zi.uL(),zi.v()));
-      if(!isnan(zi.uR())){ // if right point is valid
+      if(!std::isnan(zi.uR())){ // if right point is valid
         monoCameras.push_back(rightCamera_i);
         monoMeasured.push_back(Point2(zi.uR(),zi.v()));
       }

gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp

@@ -18,7 +18,7 @@
  *  @date   Sept 2013
  */
 
-// TODO #include <gtsam/slam/tests/smartFactorScenarios.h>
+#include <gtsam/slam/tests/smartFactorScenarios.h>
 #include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/slam/PoseTranslationPrior.h>
@@ -33,8 +33,6 @@ using namespace boost::assign;
 using namespace gtsam;
 
 // make a realistic calibration matrix
-static double fov = 60; // degrees
-static size_t w = 640, h = 480;
 static double b = 1;
 
 static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fov, w, h, b));