From b8d39e8aea78ff2eae80221d8f867e72cb31276a Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 26 Feb 2015 14:19:36 +0100 Subject: [PATCH] Removed obsolete sharedKs --- gtsam/slam/SmartProjectionPoseFactor.h | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index 48fbd937f..851cfe030 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -50,8 +50,6 @@ protected: LinearizationMode linearizeTo_; ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q) - std::vector > sharedKs_; ///< shared pointer to calibration object (one for each camera) - public: /// shorthand for a smart pointer to a factor @@ -86,8 +84,6 @@ public: void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "SmartProjectionPoseFactor, z = \n "; - BOOST_FOREACH(const boost::shared_ptr& K, sharedKs_) - K->print("calibration = "); Base::print("", keyFormatter); } @@ -130,11 +126,6 @@ public: } } - /** return calibration shared pointers */ - inline const std::vector > calibration() const { - return sharedKs_; - } - private: /// Serialization function @@ -142,7 +133,6 @@ private: template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); - ar & BOOST_SERIALIZATION_NVP(sharedKs_); } }; // end of class declaration