removing failing test and unused data

examples/CreateSFMExampleData.cpp

@@ -119,33 +119,12 @@ void create18PointExample1() {
   createExampleBALFile(filename, P, pose1, pose2);
 }
 
-/* ************************************************************************* */
-void create11PointExample1() {
-  // Create two cameras poses
-  Rot3 aRb = Rot3::Yaw(M_PI_2);
-  Point3 aTb(10, 0, 0);
-  Pose3 pose1, pose2(aRb, aTb);
-
-  // Create test data, we need 11 points
-  vector<Point3> P;
-  P += Point3(0, 0, 100), Point3(-10, 0, 100), Point3(10, 0, 100),	//
-      Point3(0, 50, 50), Point3(0, -50, 50), Point3(-20, 0, 80),	// 
-      Point3(20, -50, 80), Point3(0, 0, 100), Point3(0, 0, 100),	//
-      Point3(-10, 50, 50), Point3(10, -50, 50);
-
-  // Assumes example is run in ${GTSAM_TOP}/build/examples
-  const string filename = "../../examples/Data/11pointExample1.txt";
-  Cal3Bundler K(500, 0, 0);
-  createExampleBALFile(filename, P, pose1, pose2, K);
-}
-
 /* ************************************************************************* */
 
 int main(int argc, char* argv[]) {
   create5PointExample1();
   create5PointExample2();
   create18PointExample1();
-  create11PointExample1();
   return 0;
 }
 

gtsam/slam/tests/testEssentialMatrixFactor.cpp

@@ -747,63 +747,6 @@ TEST (EssentialMatrixFactor3, extraTest) {
   }
 }
 
-/*
-TEST(EssentialMatrixFactor4, minimizationWithStrongCal3BundlerPrior2) {
-  // Additional test with camera moving in positive X direction
-
-  NonlinearFactorGraph graph;
-  for (size_t i = 0; i < 5; i++)
-    graph.emplace_shared<EssentialMatrixFactor4<Cal3Bundler>>(1, 2, pA(i),
-                                                              pB(i), model1);
-
-  // Check error at ground truth
-  Values truth;
-  truth.insert(1, trueE);
-  truth.insert(2, trueK);
-  EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8);
-
-  // Check error at initial estimate
-  Values initial;
-  EssentialMatrix initialE =
-      trueE.retract((Vector(5) << 0.1, -0.1, 0.1, 0.1, -0.1).finished());
-  Cal3Bundler initialK = trueK.retract((Vector(3) << 0.1, 0.1, 0.1).finished());
-  initial.insert(1, initialE);
-  initial.insert(2, initialK);
-
-#if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS)
-  EXPECT_DOUBLES_EQUAL(643.62, graph.error(initial), 1e-2);
-#else
-  EXPECT_DOUBLES_EQUAL(639.84, graph.error(initial), 1e-2); // TODO: fix this
-#endif
-
-  // add prior factor on calibration
-  Vector3 priorNoiseModelSigma;
-  priorNoiseModelSigma << 1, 1, 1;
-  graph.emplace_shared<PriorFactor<Cal3Bundler>>(2, trueK, noiseModel::Diagonal::Sigmas(priorNoiseModelSigma));
-
-  // Optimize
-  LevenbergMarquardtOptimizer optimizer(graph, initial);
-  Values result = optimizer.optimize();
-
-  // Check result
-  EssentialMatrix actualE = result.at<EssentialMatrix>(1);
-  Cal3Bundler actualK = result.at<Cal3Bundler>(2);
-  EXPECT(assert_equal(trueE, actualE, 1e-1)); // TODO: tighten tolerance
-  EXPECT(assert_equal(trueK, actualK, 1e-1)); // TODO: tighten tolerance
-
-  // Check error at result
-  EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4);
-
-  // Check errors individually
-  for (size_t i = 0; i < 5; i++)
-    EXPECT_DOUBLES_EQUAL(
-        0,
-        actualE.error(EssentialMatrix::Homogeneous(actualK.calibrate(pA(i))),
-                      EssentialMatrix::Homogeneous(actualK.calibrate(pB(i)))),
-        1e-6);
-}
-*/
-
 }  // namespace example2
 
 /* ************************************************************************* */