From 01dc2c61fa391318056e5cabaf634e71efc167b5 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 23 Feb 2015 22:32:18 +0100
Subject: [PATCH] MAde it more generic

---
 gtsam/geometry/triangulation.h   | 21 +++++++++++----------
 gtsam/slam/TriangulationFactor.h |  5 ++---
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 0a0508efc..ea6c5c041 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/geometry/PinholePose.h>
 #include <gtsam/slam/TriangulationFactor.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
@@ -74,8 +75,8 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
   static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6));
   for (size_t i = 0; i < measurements.size(); i++) {
     const Pose3& pose_i = poses[i];
-    PinholePose<CALIBRATION> camera_i(pose_i, sharedCal);
-    graph.push_back(TriangulationFactor<PinholePose<CALIBRATION> > //
+    PinholeBaseK<CALIBRATION> camera_i(pose_i, sharedCal);
+    graph.push_back(TriangulationFactor<PinholeBaseK<CALIBRATION> > //
         (camera_i, measurements[i], unit2, landmarkKey));
   }
   return std::make_pair(graph, values);
@@ -107,13 +108,13 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
   return std::make_pair(graph, values);
 }
 
-/// PinholeCamera specific version
+/// PinholeBaseK specific version
 template<class CALIBRATION>
 std::pair<NonlinearFactorGraph, Values> triangulationGraph(
-    const std::vector<PinholeCamera<CALIBRATION> >& cameras,
+    const std::vector<PinholeBaseK<CALIBRATION> >& cameras,
     const std::vector<Point2>& measurements, Key landmarkKey,
     const Point3& initialEstimate) {
-  return triangulationGraph<PinholeCamera<CALIBRATION> > //
+  return triangulationGraph<PinholeBaseK<CALIBRATION> > //
   (cameras, measurements, landmarkKey, initialEstimate);
 }
 
@@ -169,12 +170,12 @@ Point3 triangulateNonlinear(const std::vector<CAMERA>& cameras,
   return optimize(graph, values, Symbol('p', 0));
 }
 
-/// PinholeCamera specific version
+/// PinholeBaseK specific version
 template<class CALIBRATION>
 Point3 triangulateNonlinear(
-    const std::vector<PinholeCamera<CALIBRATION> >& cameras,
+    const std::vector<PinholeBaseK<CALIBRATION> >& cameras,
     const std::vector<Point2>& measurements, const Point3& initialEstimate) {
-  return triangulateNonlinear<PinholeCamera<CALIBRATION> > //
+  return triangulateNonlinear<PinholeBaseK<CALIBRATION> > //
   (cameras, measurements, initialEstimate);
 }
 
@@ -277,10 +278,10 @@ Point3 triangulatePoint3(const std::vector<CAMERA>& cameras,
 /// Pinhole-specific version
 template<class CALIBRATION>
 Point3 triangulatePoint3(
-    const std::vector<PinholeCamera<CALIBRATION> >& cameras,
+    const std::vector<PinholeBaseK<CALIBRATION> >& cameras,
     const std::vector<Point2>& measurements, double rank_tol = 1e-9,
     bool optimize = false) {
-  return triangulatePoint3<PinholeCamera<CALIBRATION> > //
+  return triangulatePoint3<PinholeBaseK<CALIBRATION> > //
   (cameras, measurements, rank_tol, optimize);
 }
 
diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h
index 895d00f4c..19615c8cc 100644
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@@ -16,8 +16,7 @@
  */
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/geometry/SimpleCamera.h>
-#include <boost/optional.hpp>
+#include <gtsam/geometry/CalibratedCamera.h>
 #include <boost/make_shared.hpp>
 
 namespace gtsam {
@@ -27,7 +26,7 @@ namespace gtsam {
  * The calibration and pose are assumed known.
  * @addtogroup SLAM
  */
-template<class CAMERA = PinholeCamera<Cal3_S2> >
+template<class CAMERA>
 class TriangulationFactor: public NoiseModelFactor1<Point3> {
 
 public: