From d472362614f63f286135d3dc0ec6b910360e076e Mon Sep 17 00:00:00 2001
From: klaas kelchtermans <klaas.kelchtermans@apixa.com>
Date: Thu, 4 May 2023 11:11:45 +0200
Subject: [PATCH 1/2] add ProjectionFactorPPPCal3Fisheye

---
 gtsam_unstable/gtsam_unstable.i | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index f36118873..eea4d861a 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -699,6 +699,7 @@ virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
 
 #include <gtsam/geometry/Cal3DS2.h>
 #include <gtsam_unstable/slam/ProjectionFactorPPP.h>
+#include <gtsam/geometry/Cal3Fisheye.h>
 template<POSE, LANDMARK, CALIBRATION>
 virtual class ProjectionFactorPPP : gtsam::NoiseModelFactor {
   ProjectionFactorPPP(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
@@ -717,7 +718,7 @@ virtual class ProjectionFactorPPP : gtsam::NoiseModelFactor {
 };
 typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCal3_S2;
 typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCal3DS2;
-
+typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3Fisheye> ProjectionFactorPPPCal3Fisheye;
 
 #include <gtsam_unstable/slam/ProjectionFactorPPPC.h>
 template<POSE, LANDMARK, CALIBRATION>
@@ -737,6 +738,7 @@ virtual class ProjectionFactorPPPC : gtsam::NoiseModelFactor {
 };
 typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCCal3_S2;
 typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCCal3DS2;
+typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3Fisheye> ProjectionFactorPPPCal3Fisheye;
 
 #include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
 virtual class ProjectionFactorRollingShutter : gtsam::NoiseModelFactor {

From 8aff7b52f0132b6930cb593893f0189747e55bad Mon Sep 17 00:00:00 2001
From: klaas kelchtermans <klaas.kelchtermans@apixa.com>
Date: Thu, 4 May 2023 13:46:35 +0200
Subject: [PATCH 2/2] typo

---
 gtsam_unstable/gtsam_unstable.i | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index eea4d861a..9323255ad 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -738,7 +738,7 @@ virtual class ProjectionFactorPPPC : gtsam::NoiseModelFactor {
 };
 typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCCal3_S2;
 typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCCal3DS2;
-typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3Fisheye> ProjectionFactorPPPCal3Fisheye;
+typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3Fisheye> ProjectionFactorPPPCCal3Fisheye;
 
 #include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
 virtual class ProjectionFactorRollingShutter : gtsam::NoiseModelFactor {