From 984232defb6971fb1e6ad365c59ef6670f59de0c Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 23 Oct 2024 23:21:02 -0700
Subject: [PATCH] Kill templates

---
 gtsam/geometry/FundamentalMatrix.h            | 21 ++++++-------------
 .../geometry/tests/testFundamentalMatrix.cpp  |  6 +++---
 2 files changed, 9 insertions(+), 18 deletions(-)

diff --git a/gtsam/geometry/FundamentalMatrix.h b/gtsam/geometry/FundamentalMatrix.h
index 32acb3be0..8e952c214 100644
--- a/gtsam/geometry/FundamentalMatrix.h
+++ b/gtsam/geometry/FundamentalMatrix.h
@@ -63,29 +63,20 @@ template <typename F>
 struct TripleF {
   F F01, F12, F20;
 
-  /// Transfers a point from two cameras to another.
-  template <size_t Index>
-  Point2 transfer(const Point2& point1, const Point2& point2) {
-    static_assert(Index < 3, "Index must be less than 3");
-  }
-
-  /// Specialization for transferring a point from cameras 1,2 to camera 0.
-  template <>
-  Point2 transfer<0>(const Point2& p1, const Point2& p2) {
+  /// Transfers a point from cameras 1,2 to camera 0.
+  Point2 transfer0(const Point2& p1, const Point2& p2) {
     return FundamentalMatrix::transfer(F01.matrix(), p1,
                                        F20.matrix().transpose(), p2);
   }
 
-  /// Specialization for transferring a point from camera 0,2 to camera 1.
-  template <>
-  Point2 transfer<1>(const Point2& p0, const Point2& p2) {
+  /// Transfers a point from camera 0,2 to camera 1.
+  Point2 transfer1(const Point2& p0, const Point2& p2) {
     return FundamentalMatrix::transfer(F01.matrix().transpose(), p0,
                                        F12.matrix(), p2);
   }
 
-  /// Specialization for transferring a point from camera 0,1 to camera 2.
-  template <>
-  Point2 transfer<2>(const Point2& p0, const Point2& p1) {
+  /// Transfers a point from camera 0,1 to camera 2.
+  Point2 transfer2(const Point2& p0, const Point2& p1) {
     return FundamentalMatrix::transfer(F01.matrix(), p0,
                                        F12.matrix().transpose(), p1);
   }
diff --git a/gtsam/geometry/tests/testFundamentalMatrix.cpp b/gtsam/geometry/tests/testFundamentalMatrix.cpp
index f5a578911..760b3b99c 100644
--- a/gtsam/geometry/tests/testFundamentalMatrix.cpp
+++ b/gtsam/geometry/tests/testFundamentalMatrix.cpp
@@ -222,9 +222,9 @@ TEST(TripleF, Transfer) {
   }
 
   // Check that transfer works
-  EXPECT(assert_equal<Point2>(p[0], triplet.transfer<0>(p[1], p[2]), 1e-9));
-  EXPECT(assert_equal<Point2>(p[1], triplet.transfer<1>(p[0], p[2]), 1e-9));
-  EXPECT(assert_equal<Point2>(p[2], triplet.transfer<2>(p[0], p[1]), 1e-9));
+  EXPECT(assert_equal<Point2>(p[0], triplet.transfer0(p[1], p[2]), 1e-9));
+  EXPECT(assert_equal<Point2>(p[1], triplet.transfer1(p[0], p[2]), 1e-9));
+  EXPECT(assert_equal<Point2>(p[2], triplet.transfer2(p[0], p[1]), 1e-9));
 }
 
 //*************************************************************************