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initialize all EmptyCal shared pointers

release/4.3a0
Varun Agrawal 2021-12-20 21:19:54 -05:00
parent 8ddfd8135b
commit d42044f22e
3 changed files with 3 additions and 3 deletions
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2
gtsam/slam/tests/smartFactorScenarios.h
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@ -138,7 +138,7 @@ namespace sphericalCamera {
typedef SphericalCamera Camera; typedef SphericalCamera Camera;
typedef CameraSet<Camera> Cameras; typedef CameraSet<Camera> Cameras;
typedef SmartProjectionRigFactor<Camera> SmartFactorP; typedef SmartProjectionRigFactor<Camera> SmartFactorP;
static EmptyCal::shared_ptr emptyK; static EmptyCal::shared_ptr emptyK(new EmptyCal());
Camera level_camera(level_pose); Camera level_camera(level_pose);
Camera level_camera_right(pose_right); Camera level_camera_right(pose_right);
Camera cam1(level_pose); Camera cam1(level_pose);

2
gtsam/slam/tests/testSmartProjectionRigFactor.cpp
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@ -1524,7 +1524,7 @@ TEST(SmartProjectionFactorP, 2poses_rankTol) {
TEST(SmartProjectionFactorP, 2poses_sphericalCamera_rankTol) { TEST(SmartProjectionFactorP, 2poses_sphericalCamera_rankTol) {
typedef SphericalCamera Camera; typedef SphericalCamera Camera;
typedef SmartProjectionRigFactor<Camera> SmartRigFactor; typedef SmartProjectionRigFactor<Camera> SmartRigFactor;
static EmptyCal::shared_ptr emptyK; EmptyCal::shared_ptr emptyK(new EmptyCal());
Pose3 poseA = Pose3( Pose3 poseA = Pose3(
Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), 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 Point3(0.0, 0.0, 0.0)); // with z pointing along x axis of global frame

2
gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
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@ -1394,7 +1394,7 @@ typedef SmartProjectionPoseFactorRollingShutter<Camera> SmartFactorRS_spherical;
Pose3 interp_pose1 = interpolate<Pose3>(level_pose, pose_right, interp_factor1); Pose3 interp_pose1 = interpolate<Pose3>(level_pose, pose_right, interp_factor1);
Pose3 interp_pose2 = interpolate<Pose3>(pose_right, pose_above, interp_factor2); Pose3 interp_pose2 = interpolate<Pose3>(pose_right, pose_above, interp_factor2);
Pose3 interp_pose3 = interpolate<Pose3>(pose_above, level_pose, interp_factor3); 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 cam1(interp_pose1, emptyK);
Camera cam2(interp_pose2, emptyK); Camera cam2(interp_pose2, emptyK);
Camera cam3(interp_pose3, emptyK); Camera cam3(interp_pose3, emptyK);