polished empty calibration

gtsam/geometry/SphericalCamera.h

@@ -30,21 +30,13 @@
 namespace gtsam {
 
 class GTSAM_EXPORT EmptyCal {
- protected:
-  Matrix3 K_;
  public:
-
-  ///< shared pointer to calibration object
-  EmptyCal()
-      : K_(Matrix3::Identity()) {
-  }
-  /// Default destructor
+  EmptyCal(){}
   virtual ~EmptyCal() = default;
   using shared_ptr = boost::shared_ptr<EmptyCal>;
   void print(const std::string& s) const {
     std::cout << "empty calibration: " <<  s << std::endl;
   }
-  Matrix3 K() const {return K_;}
 };
 
 /**

gtsam/slam/tests/testSmartProjectionFactorP.cpp

@@ -1148,7 +1148,6 @@ TEST( SmartProjectionFactorP, optimization_3poses_sphericalCamera ) {
                    -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
                    Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3)));
 
-  graph.print("graph\n");
   DOUBLES_EQUAL(0.1584588987292, graph.error(values), 1e-9);
 
   Values result;