now I only need to fix comments in rolling shutter factor

gtsam/slam/SmartProjectionRigFactor.h

@@ -94,6 +94,23 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
     Base::params_.linearizationMode = gtsam::HESSIAN;
   }
 
+  /**
+   * Constructor
+   * @param sharedNoiseModel isotropic noise model for the 2D feature measurements
+   * @param camera single camera (fixed poses wrt body and intrinsics)
+   * @param params parameters for the smart projection factors
+   */
+  SmartProjectionRigFactor(const SharedNoiseModel& sharedNoiseModel,
+                           const Camera& camera,
+                           const SmartProjectionParams& params =
+                               SmartProjectionParams())
+      : Base(sharedNoiseModel, params) {
+    // use only configuration that works with this factor
+    Base::params_.degeneracyMode = gtsam::ZERO_ON_DEGENERACY;
+    Base::params_.linearizationMode = gtsam::HESSIAN;
+    cameraRig_.push_back(camera);
+  }
+
   /** Virtual destructor */
   ~SmartProjectionRigFactor() override {
   }
@@ -104,9 +121,9 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
    * @param measured 2-dimensional location of the projection of a
    * single landmark in a single view (the measurement)
    * @param poseKey key corresponding to the body pose of the camera taking the measurement
-   * @param cameraId ID of the camera in the rig taking the measurement
+   * @param cameraId ID of the camera in the rig taking the measurement (default 0)
    */
-  void add(const Point2& measured, const Key& poseKey, const size_t cameraId) {
+  void add(const Point2& measured, const Key& poseKey, const size_t cameraId = 0) {
     // store measurement and key
     this->measured_.push_back(measured);
     this->nonUniqueKeys_.push_back(poseKey);
@@ -127,13 +144,19 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
    * @param cameraIds IDs of the cameras in the rig taking each measurement (same order as the measurements)
    */
   void add(const Point2Vector& measurements, const KeyVector& poseKeys,
-           const FastVector<size_t>& cameraIds) {
+           const FastVector<size_t>& cameraIds = FastVector<size_t>()) {
-    if(poseKeys.size() != measurements.size() || poseKeys.size() != cameraIds.size()){
+    if (poseKeys.size() != measurements.size()
+        || (poseKeys.size() != cameraIds.size() && cameraIds.size() != 0)) {
       throw std::runtime_error("SmartProjectionRigFactor: "
-          "trying to add inconsistent inputs");
+                               "trying to add inconsistent inputs");
+    }
+    if (cameraIds.size() == 0 && cameraRig_.size() > 1) {
+      throw std::runtime_error(
+          "SmartProjectionRigFactor: "
+          "camera rig includes multiple camera but add did not input cameraIds");
     }
     for (size_t i = 0; i < measurements.size(); i++) {
-      add(measurements[i], poseKeys[i], cameraIds[i]);
+      add(measurements[i], poseKeys[i], cameraIds.size() == 0 ? 0 : cameraIds[i]);
     }
   }
 

gtsam/slam/tests/testSmartProjectionRigFactor.cpp

@@ -92,6 +92,15 @@ TEST( SmartProjectionRigFactor, Constructor4) {
   factor1.add(measurement1, x1, cameraId1);
 }
 
+/* ************************************************************************* */
+TEST( SmartProjectionRigFactor, Constructor5) {
+  using namespace vanillaPose;
+  SmartProjectionParams params;
+  params.setRankTolerance(rankTol);
+  SmartRigFactor factor1(model, Camera(Pose3::identity(), sharedK), params);
+  factor1.add(measurement1, x1, cameraId1);
+}
+
 /* ************************************************************************* */
 TEST( SmartProjectionRigFactor, Equals ) {
   using namespace vanillaPose;
@@ -105,6 +114,11 @@ TEST( SmartProjectionRigFactor, Equals ) {
   factor2->add(measurement1, x1, cameraId1);
 
   CHECK(assert_equal(*factor1, *factor2));
+
+  SmartRigFactor::shared_ptr factor3(new SmartRigFactor(model, Camera(Pose3::identity(), sharedK)));
+  factor3->add(measurement1, x1);   // now use default
+
+  CHECK(assert_equal(*factor1, *factor3));
 }
 
 /* *************************************************************************/
@@ -112,16 +126,13 @@ TEST( SmartProjectionRigFactor, noiseless ) {
 
   using namespace vanillaPose;
 
-  Cameras cameraRig; // single camera in the rig
-  cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
-
   // Project two landmarks into two cameras
   Point2 level_uv = level_camera.project(landmark1);
   Point2 level_uv_right = level_camera_right.project(landmark1);
 
-  SmartRigFactor factor(model, cameraRig);
+  SmartRigFactor factor(model, Camera(Pose3::identity(), sharedK) );
-  factor.add(level_uv, x1, cameraId1); // both taken from the same camera
+  factor.add(level_uv, x1); // both taken from the same camera
-  factor.add(level_uv_right, x2, cameraId1);
+  factor.add(level_uv_right, x2);
 
   Values values;  // it's a pose factor, hence these are poses
   values.insert(x1, cam1.pose());
@@ -245,13 +256,13 @@ TEST(SmartProjectionRigFactor, smartFactorWithSensorBodyTransform) {
   params.setEnableEPI(false);
 
   SmartRigFactor smartFactor1(model, cameraRig, params);
-  smartFactor1.add(measurements_cam1, views, cameraIds);
+  smartFactor1.add(measurements_cam1, views); // use default CameraIds since we have a single camera
 
   SmartRigFactor smartFactor2(model, cameraRig, params);
-  smartFactor2.add(measurements_cam2, views, cameraIds);
+  smartFactor2.add(measurements_cam2, views);
 
   SmartRigFactor smartFactor3(model, cameraRig, params);
-  smartFactor3.add(measurements_cam3, views, cameraIds);
+  smartFactor3.add(measurements_cam3, views);
 
   const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
 
@@ -459,15 +470,12 @@ TEST( SmartProjectionRigFactor, Factors ) {
   measurements_cam1.push_back(cam2.project(landmark1));
 
   // Create smart factors
-  Cameras cameraRig; // single camera in the rig
-  cameraRig.push_back( Camera(Pose3::identity(), sharedK) );
-
   KeyVector views { x1, x2 };
   FastVector<size_t> cameraIds { 0, 0 };
 
   SmartRigFactor::shared_ptr smartFactor1 = boost::make_shared < SmartRigFactor
-      > (model,cameraRig);
+      > (model, Camera(Pose3::identity(), sharedK));
-  smartFactor1->add(measurements_cam1, views, cameraIds);
+  smartFactor1->add(measurements_cam1, views); // we have a single camera so use default cameraIds
 
   SmartRigFactor::Cameras cameras;
   cameras.push_back(cam1);

gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h

@@ -183,6 +183,11 @@ class SmartProjectionPoseFactorRollingShutter
       throw std::runtime_error("SmartProjectionPoseFactorRollingShutter: "
                                "trying to add inconsistent inputs");
     }
+    if (cameraIds.size() == 0 && cameraRig_.size() > 1) {
+      throw std::runtime_error(
+          "SmartProjectionPoseFactorRollingShutter: "
+          "camera rig includes multiple camera but add did not input cameraIds");
+    }
     for (size_t i = 0; i < measurements.size(); i++) {
       add(measurements[i], world_P_body_key_pairs[i].first,
           world_P_body_key_pairs[i].second, alphas[i],