From b166985a82242fea6fe4b6748669c73f758dc2fa Mon Sep 17 00:00:00 2001 From: David Wisth Date: Mon, 3 Jan 2022 16:40:48 +1100 Subject: [PATCH] remove unnessecary constructor - use default arguments instead --- gtsam_unstable/slam/ProjectionFactorPPPC.h | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h index 53860efdc..2084e99f7 100644 --- a/gtsam_unstable/slam/ProjectionFactorPPPC.h +++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h @@ -57,19 +57,6 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC measured_(0.0, 0.0), throwCheirality_(false), verboseCheirality_(false) { } - /** - * Constructor - * TODO: Mark argument order standard (keys, measurement, parameters) - * @param measured is the 2 dimensional location of point in image (the measurement) - * @param model is the standard deviation - * @param poseKey is the index of the camera - * @param pointKey is the index of the landmark - * @param K shared pointer to the constant calibration - */ - ProjectionFactorPPPC(const Point2& measured, const SharedNoiseModel& model, - Key poseKey, Key transformKey, Key pointKey, Key calibKey) : - Base(model, poseKey, transformKey, pointKey, calibKey), measured_(measured), - throwCheirality_(false), verboseCheirality_(false) {} /** * Constructor with exception-handling flags @@ -84,7 +71,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC */ ProjectionFactorPPPC(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key transformKey, Key pointKey, Key calibKey, - bool throwCheirality, bool verboseCheirality) : + bool throwCheirality = false, bool verboseCheirality = false) : Base(model, poseKey, transformKey, pointKey, calibKey), measured_(measured), throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}