From fc085626416b34c94379b9d76669a04746c87f56 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 15 Aug 2020 08:06:37 -0400
Subject: [PATCH] Hunted down deprecated use of parse3DLandmarks

---
 gtsam/slam/dataset.cpp           |  2 +-
 gtsam/slam/tests/testDataset.cpp |  6 +++---
 timing/timeFrobeniusFactor.cpp   | 12 ++++++------
 3 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 11473d084..2aac939d9 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -907,7 +907,7 @@ GraphAndValues load3D(const string &filename) {
     initial->insert(key_pose.first, key_pose.second);
   }
   
-  const auto landmarks = parse3DLandmarks(filename);
+  const auto landmarks = parseVariables<Point3>(filename);
   for (const auto &key_landmark : landmarks) {
     initial->insert(key_landmark.first, key_landmark.second);
   }
diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp
index 864f42162..3e804b6b0 100644
--- a/gtsam/slam/tests/testDataset.cpp
+++ b/gtsam/slam/tests/testDataset.cpp
@@ -224,7 +224,7 @@ TEST(dataSet, readG2o3D) {
   }
 
   // Check landmark parsing
-  const auto actualLandmarks = parse3DLandmarks(g2oFile);
+  const auto actualLandmarks = parseVariables<Point3>(g2oFile);
   for (size_t j : {0, 1, 2, 3, 4}) {
     EXPECT(assert_equal(poses[j], actualPoses.at(j), 1e-5));
   }
@@ -299,7 +299,7 @@ TEST(dataSet, readG2oCheckDeterminants) {
     const Rot3 R = key_value.second.rotation();
     EXPECT_DOUBLES_EQUAL(1.0, R.matrix().determinant(), 1e-9);
   }
-  const map<Key, Point3> landmarks = parse3DLandmarks(g2oFile);
+  const map<Key, Point3> landmarks = parseVariables<Point3>(g2oFile);
   EXPECT_LONGS_EQUAL(0, landmarks.size());
 }
 
@@ -310,7 +310,7 @@ TEST(dataSet, readG2oLandmarks) {
   // Check number of poses and landmarks. Should be 8 each.
   const map<Key, Pose3> poses = parseVariables<Pose3>(g2oFile);
   EXPECT_LONGS_EQUAL(8, poses.size());
-  const map<Key, Point3> landmarks = parse3DLandmarks(g2oFile);
+  const map<Key, Point3> landmarks = parseVariables<Point3>(g2oFile);
   EXPECT_LONGS_EQUAL(8, landmarks.size());
 }
 
diff --git a/timing/timeFrobeniusFactor.cpp b/timing/timeFrobeniusFactor.cpp
index 44bb084cc..c0ac28ed9 100644
--- a/timing/timeFrobeniusFactor.cpp
+++ b/timing/timeFrobeniusFactor.cpp
@@ -57,7 +57,7 @@ int main(int argc, char* argv[]) {
   }
 
   // Read G2O file
-  const auto factors = parse3DFactors(g2oFile);
+  const auto measurements = parseMeasurements<Rot3>(g2oFile);
   const auto poses = parseVariables<Pose3>(g2oFile);
 
   // Build graph
@@ -66,12 +66,12 @@ int main(int argc, char* argv[]) {
   auto priorModel = noiseModel::Isotropic::Sigma(6, 10000);
   graph.add(PriorFactor<SOn>(0, SOn::identity(4), priorModel));
   auto G = boost::make_shared<Matrix>(SOn::VectorizedGenerators(4));
-  for (const auto& factor : factors) {
-    const auto& keys = factor->keys();
-    const auto& Tij = factor->measured();
-    const auto& model = factor->noiseModel();
+  for (const auto &m : measurements) {
+    const auto &keys = m.keys();
+    const Rot3 &Tij = m.measured();
+    const auto &model = m.noiseModel();
     graph.emplace_shared<FrobeniusWormholeFactor>(
-        keys[0], keys[1], Rot3(Tij.rotation().matrix()), 4, model, G);
+        keys[0], keys[1], Tij, 4, model, G);
   }
 
   std::mt19937 rng(42);