From 710d396d0b2d5fce67a2d10289dc9fd5b89bf74e Mon Sep 17 00:00:00 2001
From: Chris Beall <chrisbeall@gmail.com>
Date: Tue, 10 Nov 2009 22:49:22 +0000
Subject: [PATCH] cleaned up a few includes to make VSLAMGraph work properly
 after the move into gtsam.

---
 cpp/Makefile.am    |  2 +-
 cpp/VSLAMGraph.cpp |  7 +++++--
 cpp/VSLAMGraph.h   | 11 +++++------
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/cpp/Makefile.am b/cpp/Makefile.am
index 8542ae17e..cdb94ca36 100644
--- a/cpp/Makefile.am
+++ b/cpp/Makefile.am
@@ -139,7 +139,7 @@ testSimulated3D_LDADD = libgtsam.la
 check_PROGRAMS += testSimulated3D 
 
 # Visual SLAM
-sources += CalibratedCamera.cpp SimpleCamera.cpp VSLAMConfig.cpp VSLAMFactor.cpp
+sources += CalibratedCamera.cpp SimpleCamera.cpp VSLAMConfig.cpp VSLAMGraph.cpp VSLAMFactor.cpp
 check_PROGRAMS += testCalibratedCamera testSimpleCamera testVSLAMFactor
 testCalibratedCamera_SOURCES = testCalibratedCamera.cpp
 testCalibratedCamera_LDADD = libgtsam.la
diff --git a/cpp/VSLAMGraph.cpp b/cpp/VSLAMGraph.cpp
index ba08f1de0..f0cd22903 100644
--- a/cpp/VSLAMGraph.cpp
+++ b/cpp/VSLAMGraph.cpp
@@ -9,13 +9,14 @@
 #include <fstream>
 #include <boost/foreach.hpp>
 
-//#include "VSLAMFactor.h"
 #include "VSLAMGraph.h"
 
 using namespace std;
-using namespace gtsam;
+namespace gtsam{
 
 /* ************************************************************************* */
+//TODO: CB: This constructor is specific to loading VO data. Should probably
+//      get rid of this.
 VSLAMGraph::VSLAMGraph(const std::string& path)
 {
   ifstream ifs(path.c_str(), ios::in);
@@ -98,3 +99,5 @@ VSLAMGraph::VSLAMGraph(const std::string& path,
 
 /* ************************************************************************* */
 
+} // namespace gtsam
+
diff --git a/cpp/VSLAMGraph.h b/cpp/VSLAMGraph.h
index 6779aef58..2ce58a266 100644
--- a/cpp/VSLAMGraph.h
+++ b/cpp/VSLAMGraph.h
@@ -5,7 +5,6 @@
  * @author  Carlos Nieto
  */
 
-
 #pragma once
 
 #include <vector>
@@ -13,15 +12,13 @@
 #include <set>
 #include <fstream>
 
-#include <gtsam/NonlinearFactorGraph.h>
-#include <gtsam/FactorGraph-inl.h>
+#include "NonlinearFactorGraph.h"
+#include "FactorGraph-inl.h"
 #include "VSLAMFactor.h"
-#include "VSLAMFactor0.h"
-#include "StereoFactor.h"
 #include "VSLAMConfig.h"
 
-
 using namespace std;
+namespace gtsam{
 
 /**
  * Non-linear factor graph for visual SLAM
@@ -64,3 +61,5 @@ public:
   int Get_nFeat_ids(){return feat_ids.size();};
   feat_ids_type* Get_feat_ids_map(){return &feat_ids;};
 };
+
+} // namespace gtsam