From 48db3fc6c69d60c88555f64e065dc1a2f60b2a93 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Tue, 15 Jul 2014 13:08:51 -0400
Subject: [PATCH] remove duplicate test

---
 .../testSmartStereoProjectionPoseFactor.cpp   | 74 -------------------
 1 file changed, 74 deletions(-)

diff --git a/gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp
index 2659cb274..0b9f55d0b 100644
--- a/gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartStereoProjectionPoseFactor.cpp
@@ -297,80 +297,6 @@ TEST( SmartStereoProjectionPoseFactor, 3poses_smart_projection_factor ){
   if(isDebugTest) tictoc_print_();
 }
 
-/* *************************************************************************/
-TEST( SmartStereoProjectionPoseFactor, 3poses_iterative_smart_projection_factor ){
-  // cout << " ************************ SmartStereoProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;
-
-  std::vector<Key> views;
-  views.push_back(x1);
-  views.push_back(x2);
-  views.push_back(x3);
-
-  // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
-  Pose3 pose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1));
-  StereoCamera cam1(pose1, K);
-
-  // create second camera 1 meter to the right of first camera
-  Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1,0,0));
-  StereoCamera cam2(pose2, K);
-
-  // create third camera 1 meter above the first camera
-  Pose3 pose3 = pose1 * Pose3(Rot3(), Point3(0,-1,0));
-  StereoCamera cam3(pose3, K);
-
-  // three landmarks ~5 meters infront of camera
-  Point3 landmark1(5, 0.5, 1.2);
-  Point3 landmark2(5, -0.5, 1.2);
-  Point3 landmark3(3, 0, 3.0);
-
-  // 1. Project three landmarks into three cameras and triangulate
-  vector<StereoPoint2> measurements_cam1 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark1);
-  vector<StereoPoint2> measurements_cam2 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark2);
-  vector<StereoPoint2> measurements_cam3 = stereo_projectToMultipleCameras(cam1, cam2, cam3, landmark3);
-
-  SmartFactor::shared_ptr smartFactor1(new SmartFactor());
-  smartFactor1->add(measurements_cam1, views, model, K);
-
-  SmartFactor::shared_ptr smartFactor2(new SmartFactor());
-  smartFactor2->add(measurements_cam2, views, model, K);
-
-  SmartFactor::shared_ptr smartFactor3(new SmartFactor());
-  smartFactor3->add(measurements_cam3, views, model, K);
-
-  const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
-
-  NonlinearFactorGraph graph;
-  graph.push_back(smartFactor1);
-  graph.push_back(smartFactor2);
-  graph.push_back(smartFactor3);
-  graph.push_back(PriorFactor<Pose3>(x1, pose1, noisePrior));
-  graph.push_back(PriorFactor<Pose3>(x2, pose2, noisePrior));
-
-  //  Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
-  Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1)); // smaller noise
-  Values values;
-  values.insert(x1, pose1);
-  values.insert(x2, pose2);
-  // initialize third pose with some noise, we expect it to move back to original pose3
-  values.insert(x3, pose3*noise_pose);
-  if(isDebugTest) values.at<Pose3>(x3).print("Smart: Pose3 before optimization: ");
-
-  LevenbergMarquardtParams params;
-  if(isDebugTest) params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
-  if(isDebugTest) params.verbosity = NonlinearOptimizerParams::ERROR;
-
-  Values result;
-  gttic_(SmartStereoProjectionPoseFactor);
-  LevenbergMarquardtOptimizer optimizer(graph, values, params);
-  result = optimizer.optimize();
-  gttoc_(SmartStereoProjectionPoseFactor);
-  tictoc_finishedIteration_();
-
-  // result.print("results of 3 camera, 3 landmark optimization \n");
-  if(isDebugTest) result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
-  EXPECT(assert_equal(pose3,result.at<Pose3>(x3)));
-  if(isDebugTest) tictoc_print_();
-}
 
 ///* *************************************************************************/
 //TEST( SmartStereoProjectionPoseFactor, jacobianSVD ){