From d6ef5454990827a525a79515b6f13a1df1852443 Mon Sep 17 00:00:00 2001
From: Ayush Baid <ayushrakeshbaid@gmail.com>
Date: Mon, 28 Dec 2020 22:05:12 +0530
Subject: [PATCH 1/2] Wrapping Cal3Bundler's prior and GeneralSFMFactor2

---
 gtsam/gtsam.i | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 3a6c6edf1..c37a83b8a 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2505,7 +2505,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/nonlinear/PriorFactor.h>
-template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
+template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;
@@ -2651,7 +2651,7 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> Gene
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
 
-template<CALIBRATION = {gtsam::Cal3_S2}>
+template<CALIBRATION>
 virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
   GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
   gtsam::Point2 measured() const;
@@ -2659,6 +2659,9 @@ virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
   // enabling serialization functionality
   void serialize() const;
 };
+typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
+typedef gtsam::GeneralSFMFactor2<gtsam::Cal3DS2> GeneralSFMFactor2Cal3DS2;
+typedef gtsam::GeneralSFMFactor2<gtsam::Cal3Bundler> GeneralSFMFactor2Cal3Bundler;
 
 #include <gtsam/slam/SmartProjectionFactor.h>
 class SmartProjectionParams {

From c7c0c77a12d52327e130e1c659c305d5ac4b647f Mon Sep 17 00:00:00 2001
From: Ayush Baid <ayushrakeshbaid@gmail.com>
Date: Tue, 29 Dec 2020 08:53:19 +0530
Subject: [PATCH 2/2] Adding Cal3DS2 prior factor and using template instead of
 typedefs

---
 gtsam/gtsam.i | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 870f3edc0..69b8bfebf 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2520,7 +2520,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/nonlinear/PriorFactor.h>
-template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
+template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;
@@ -2666,7 +2666,7 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> Gene
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
 
-template<CALIBRATION>
+template<CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler}>
 virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
   GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
   gtsam::Point2 measured() const;
@@ -2674,9 +2674,6 @@ virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
   // enabling serialization functionality
   void serialize() const;
 };
-typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
-typedef gtsam::GeneralSFMFactor2<gtsam::Cal3DS2> GeneralSFMFactor2Cal3DS2;
-typedef gtsam::GeneralSFMFactor2<gtsam::Cal3Bundler> GeneralSFMFactor2Cal3Bundler;
 
 #include <gtsam/slam/SmartProjectionFactor.h>
 class SmartProjectionParams {