From 60ce938e31b76b34a822ad4b5090407cdedf3cd1 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 28 Oct 2024 15:58:13 -0700
Subject: [PATCH] Add prior templates

---
 gtsam/nonlinear/nonlinear.i | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 80f694e97..09c234630 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -75,13 +75,20 @@ class NonlinearFactorGraph {
                  gtsam::Pose2,
                  gtsam::Pose3,
                  gtsam::Cal3_S2,
+                 gtsam::Cal3f,
+                 gtsam::Cal3Bundler,
                  gtsam::Cal3Fisheye,
                  gtsam::Cal3Unified,
                  gtsam::CalibratedCamera,
+                 gtsam::EssentialMatrix,
+                 gtsam::FundamentalMatrix,
+                 gtsam::SimpleFundamentalMatrix,
                  gtsam::PinholeCamera<gtsam::Cal3_S2>,
+                 gtsam::PinholeCamera<gtsam::Cal3f>,
                  gtsam::PinholeCamera<gtsam::Cal3Bundler>,
                  gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
                  gtsam::PinholeCamera<gtsam::Cal3Unified>,
+                 gtsam::PinholeCamera<gtsam::CalibratedCamera>,
                  gtsam::imuBias::ConstantBias}>
   void addPrior(size_t key, const T& prior,
                 const gtsam::noiseModel::Base* noiseModel);