From d42044f22e414cf5428985caf8e9513c9ffd92f9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 20 Dec 2021 21:19:54 -0500
Subject: [PATCH] initialize all EmptyCal shared pointers

---
 gtsam/slam/tests/smartFactorScenarios.h                         | 2 +-
 gtsam/slam/tests/testSmartProjectionRigFactor.cpp               | 2 +-
 .../slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/slam/tests/smartFactorScenarios.h b/gtsam/slam/tests/smartFactorScenarios.h
index 310dbe79e..66be08c67 100644
--- a/gtsam/slam/tests/smartFactorScenarios.h
+++ b/gtsam/slam/tests/smartFactorScenarios.h
@@ -138,7 +138,7 @@ namespace sphericalCamera {
 typedef SphericalCamera Camera;
 typedef CameraSet<Camera> Cameras;
 typedef SmartProjectionRigFactor<Camera> SmartFactorP;
-static EmptyCal::shared_ptr emptyK;
+static EmptyCal::shared_ptr emptyK(new EmptyCal());
 Camera level_camera(level_pose);
 Camera level_camera_right(pose_right);
 Camera cam1(level_pose);
diff --git a/gtsam/slam/tests/testSmartProjectionRigFactor.cpp b/gtsam/slam/tests/testSmartProjectionRigFactor.cpp
index 7f65a3c33..b4876b27e 100644
--- a/gtsam/slam/tests/testSmartProjectionRigFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionRigFactor.cpp
@@ -1524,7 +1524,7 @@ TEST(SmartProjectionFactorP, 2poses_rankTol) {
 TEST(SmartProjectionFactorP, 2poses_sphericalCamera_rankTol) {
   typedef SphericalCamera Camera;
   typedef SmartProjectionRigFactor<Camera> SmartRigFactor;
-  static EmptyCal::shared_ptr emptyK;
+  EmptyCal::shared_ptr emptyK(new EmptyCal());
   Pose3 poseA = Pose3(
       Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2),
       Point3(0.0, 0.0, 0.0));  // with z pointing along x axis of global frame
diff --git a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
index d7e72d129..b5962d777 100644
--- a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
+++ b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
@@ -1394,7 +1394,7 @@ typedef SmartProjectionPoseFactorRollingShutter<Camera> SmartFactorRS_spherical;
 Pose3 interp_pose1 = interpolate<Pose3>(level_pose, pose_right, interp_factor1);
 Pose3 interp_pose2 = interpolate<Pose3>(pose_right, pose_above, interp_factor2);
 Pose3 interp_pose3 = interpolate<Pose3>(pose_above, level_pose, interp_factor3);
-static EmptyCal::shared_ptr emptyK;
+static EmptyCal::shared_ptr emptyK(new EmptyCal());
 Camera cam1(interp_pose1, emptyK);
 Camera cam2(interp_pose2, emptyK);
 Camera cam3(interp_pose3, emptyK);