From 287ea289209b6cee9c9dbb6d141fb46aa2d5ee98 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 11 May 2022 00:27:50 -0400
Subject: [PATCH] Camera sets

---
 gtsam/geometry/geometry.i               | 10 +++++++---
 python/gtsam/specializations/geometry.h |  2 ++
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 96249b6e0..1e9444b02 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1040,7 +1040,11 @@ class Similarity3 {
   double scale() const;
 };
 
-template <T>
+template <T = {gtsam::PinholeCameraCal3_S2,
+               gtsam::PinholeCameraCal3DS2,
+               gtsam::PinholeCameraCal3Bundler,
+               gtsam::PinholeCameraCal3Fisheye,
+               gtsam::PinholeCameraCal3Unified}>
 class CameraSet {
   CameraSet();
 
@@ -1088,10 +1092,10 @@ class StereoCamera {
 };
 
 #include <gtsam/geometry/triangulation.h>
-
-virtual class TriangulationResult : boost::optional<gtsam::Point3> {
+class TriangulationResult {
   enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
   Status status;
+  const gtsam::Point3& get() const;
 };
 
 class TriangulationParameters {
diff --git a/python/gtsam/specializations/geometry.h b/python/gtsam/specializations/geometry.h
index 5a0ea35ef..99f40253f 100644
--- a/python/gtsam/specializations/geometry.h
+++ b/python/gtsam/specializations/geometry.h
@@ -21,6 +21,8 @@ py::bind_vector<std::vector<gtsam::Pose3Pair>>(m_, "Pose3Pairs");
 py::bind_vector<std::vector<gtsam::Pose3>>(m_, "Pose3Vector");
 py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>(
     m_, "CameraSetCal3_S2");
+py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3DS2>>>(
+    m_, "CameraSetCal3DS2");
 py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(
     m_, "CameraSetCal3Bundler");
 py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Unified>>>(