From 8fdbf2fa6e25f3fde36947e710a7221fe74f4434 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 21 Mar 2020 15:29:07 -0400
Subject: [PATCH] added Cal3_S2 header and Frank's recommendations

---
 examples/CameraResectioning.cpp       | 1 +
 examples/ISAM2Example_SmartFactor.cpp | 1 +
 examples/ImuFactorExample2.cpp        | 3 ++-
 gtsam/sam/tests/testRangeFactor.cpp   | 8 +++++---
 4 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp
index e93e6ffca..b12418098 100644
--- a/examples/CameraResectioning.cpp
+++ b/examples/CameraResectioning.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Cal3_S2.h>
 #include <boost/make_shared.hpp>
 
 using namespace gtsam;
diff --git a/examples/ISAM2Example_SmartFactor.cpp b/examples/ISAM2Example_SmartFactor.cpp
index 46b9fcd47..21fe6e661 100644
--- a/examples/ISAM2Example_SmartFactor.cpp
+++ b/examples/ISAM2Example_SmartFactor.cpp
@@ -5,6 +5,7 @@
  */
 
 #include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/SmartProjectionPoseFactor.h>
diff --git a/examples/ImuFactorExample2.cpp b/examples/ImuFactorExample2.cpp
index 4ebc342eb..f83a539af 100644
--- a/examples/ImuFactorExample2.cpp
+++ b/examples/ImuFactorExample2.cpp
@@ -1,5 +1,6 @@
 
 #include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/navigation/ImuBias.h>
 #include <gtsam/navigation/ImuFactor.h>
@@ -34,7 +35,7 @@ int main(int argc, char* argv[]) {
   double radius = 30;
   const Point3 up(0, 0, 1), target(0, 0, 0);
   const Point3 position(radius, 0, 0);
-  const PinholeCamera<Cal3_S2> camera = PinholeCamera<Cal3_S2>::Lookat(position, target, up);
+  const auto camera = PinholeCamera<Cal3_S2>::Lookat(position, target, up);
   const auto pose_0 = camera.pose();
 
   // Now, create a constant-twist scenario that makes the camera orbit the
diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp
index 0d19918f6..54d4a43c0 100644
--- a/gtsam/sam/tests/testRangeFactor.cpp
+++ b/gtsam/sam/tests/testRangeFactor.cpp
@@ -356,9 +356,11 @@ TEST(RangeFactor, Point3) {
 /* ************************************************************************* */
 // Do tests with PinholeCamera<Cal3_S2>
 TEST( RangeFactor, Camera) {
-  RangeFactor<PinholeCamera<Cal3_S2>,Point3> factor1(poseKey, pointKey, measurement, model);
-  RangeFactor<PinholeCamera<Cal3_S2>,Pose3> factor2(poseKey, pointKey, measurement, model);
-  RangeFactor<PinholeCamera<Cal3_S2>,PinholeCamera<Cal3_S2>> factor3(poseKey, pointKey, measurement, model);
+  using Camera = PinholeCamera<Cal3_S2>;
+
+  RangeFactor<Camera, Point3> factor1(poseKey, pointKey, measurement, model);
+  RangeFactor<Camera, Pose3>  factor2(poseKey, pointKey, measurement, model);
+  RangeFactor<Camera, Camera> factor3(poseKey, pointKey, measurement, model);
 }
 
 /* ************************************************************************* */