From 6b3608cf9ae954d71c2af349bc080239a674b5a7 Mon Sep 17 00:00:00 2001
From: Jing Dong <thu.dongjing@gmail.com>
Date: Thu, 18 May 2017 12:32:29 -0700
Subject: [PATCH] fixing vc++14 compile issues

---
 gtsam/geometry/CameraSet.h     | 12 ++++++------
 gtsam/geometry/Point3.h        | 24 ++++++++++++------------
 gtsam/geometry/triangulation.h |  8 ++++----
 gtsam/slam/SmartFactorParams.h |  2 +-
 4 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 18f311a23..026bcdd9e 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -209,11 +209,11 @@ public:
       bool diagonalDamping = false) {
     if (E.cols() == 2) {
       Matrix2 P2;
-      ComputePointCovariance(P2, E, lambda, diagonalDamping);
+      ComputePointCovariance<2>(P2, E, lambda, diagonalDamping);
       return P2;
     } else {
       Matrix3 P3;
-      ComputePointCovariance(P3, E, lambda, diagonalDamping);
+      ComputePointCovariance<3>(P3, E, lambda, diagonalDamping);
       return P3;
     }
   }
@@ -227,12 +227,12 @@ public:
       bool diagonalDamping = false) {
     if (E.cols() == 2) {
       Matrix2 P;
-      ComputePointCovariance(P, E, lambda, diagonalDamping);
-      return SchurComplement(Fblocks, E, P, b);
+      ComputePointCovariance<2>(P, E, lambda, diagonalDamping);
+      return SchurComplement<2>(Fblocks, E, P, b);
     } else {
       Matrix3 P;
-      ComputePointCovariance(P, E, lambda, diagonalDamping);
-      return SchurComplement(Fblocks, E, P, b);
+      ComputePointCovariance<3>(P, E, lambda, diagonalDamping);
+      return SchurComplement<3>(Fblocks, E, P, b);
     }
   }
 
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 99cb6c2e7..215161b3a 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -157,28 +157,28 @@ struct traits<const Point3> : public internal::VectorSpace<Point3> {};
 
 // Convenience typedef
 typedef std::pair<Point3, Point3> Point3Pair;
-std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
+GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
 
 /// distance between two points
-double distance3(const Point3& p1, const Point3& q,
-                 OptionalJacobian<1, 3> H1 = boost::none,
-                 OptionalJacobian<1, 3> H2 = boost::none);
+GTSAM_EXPORT double distance3(const Point3& p1, const Point3& q,
+	                          OptionalJacobian<1, 3> H1 = boost::none,
+                              OptionalJacobian<1, 3> H2 = boost::none);
 
 /// Distance of the point from the origin, with Jacobian
-double norm3(const Point3& p, OptionalJacobian<1, 3> H = boost::none);
+GTSAM_EXPORT double norm3(const Point3& p, OptionalJacobian<1, 3> H = boost::none);
 
 /// normalize, with optional Jacobian
-Point3 normalize(const Point3& p, OptionalJacobian<3, 3> H = boost::none);
+GTSAM_EXPORT Point3 normalize(const Point3& p, OptionalJacobian<3, 3> H = boost::none);
 
 /// cross product @return this x q
-Point3 cross(const Point3& p, const Point3& q,
-             OptionalJacobian<3, 3> H_p = boost::none,
-             OptionalJacobian<3, 3> H_q = boost::none);
+GTSAM_EXPORT Point3 cross(const Point3& p, const Point3& q,
+                          OptionalJacobian<3, 3> H_p = boost::none,
+                          OptionalJacobian<3, 3> H_q = boost::none);
 
 /// dot product
-double dot(const Point3& p, const Point3& q,
-           OptionalJacobian<1, 3> H_p = boost::none,
-           OptionalJacobian<1, 3> H_q = boost::none);
+GTSAM_EXPORT double dot(const Point3& p, const Point3& q,
+                        OptionalJacobian<1, 3> H_p = boost::none,
+                        OptionalJacobian<1, 3> H_q = boost::none);
 
 template <typename A1, typename A2>
 struct Range;
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index fdfe32e8b..e49e93d5a 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -28,7 +28,7 @@
 namespace gtsam {
 
 /// Exception thrown by triangulateDLT when SVD returns rank < 3
-class TriangulationUnderconstrainedException: public std::runtime_error {
+class GTSAM_EXPORT TriangulationUnderconstrainedException: public std::runtime_error {
 public:
   TriangulationUnderconstrainedException() :
       std::runtime_error("Triangulation Underconstrained Exception.") {
@@ -36,7 +36,7 @@ public:
 };
 
 /// Exception thrown by triangulateDLT when landmark is behind one or more of the cameras
-class TriangulationCheiralityException: public std::runtime_error {
+class GTSAM_EXPORT TriangulationCheiralityException: public std::runtime_error {
 public:
   TriangulationCheiralityException() :
       std::runtime_error(
@@ -319,7 +319,7 @@ Point3 triangulatePoint3(
   (cameras, measurements, rank_tol, optimize);
 }
 
-struct TriangulationParameters {
+struct GTSAM_EXPORT TriangulationParameters {
 
   double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate
   ///< (the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance)
@@ -382,7 +382,7 @@ private:
 /**
  * TriangulationResult is an optional point, along with the reasons why it is invalid.
  */
-class TriangulationResult: public boost::optional<Point3> {
+class GTSAM_EXPORT TriangulationResult: public boost::optional<Point3> {
   enum Status {
     VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT
   };
diff --git a/gtsam/slam/SmartFactorParams.h b/gtsam/slam/SmartFactorParams.h
index 761703f8b..e8a1fa7ab 100644
--- a/gtsam/slam/SmartFactorParams.h
+++ b/gtsam/slam/SmartFactorParams.h
@@ -39,7 +39,7 @@ enum DegeneracyMode {
 /*
  *  Parameters for the smart (stereo) projection factors
  */
-struct GTSAM_EXPORT SmartProjectionParams {
+struct SmartProjectionParams {
 
   LinearizationMode linearizationMode; ///< How to linearize the factor
   DegeneracyMode degeneracyMode; ///< How to linearize the factor