From acaf6a273ac8d91d411004f514bf758f7619023d Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Tue, 3 May 2022 13:55:08 -0400
Subject: [PATCH] Wrap GeneralSFMFactor for PinholePose

---
 gtsam/slam/slam.i | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i
index 4e943253e..8e1e06d5b 100644
--- a/gtsam/slam/slam.i
+++ b/gtsam/slam/slam.i
@@ -90,6 +90,22 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Unified>,
                                 gtsam::Point3>
     GeneralSFMFactorCal3Unified;
 
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3_S2>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3_S2;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3DS2>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3DS2;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3Bundler>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3Bundler;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3Fisheye>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3Fisheye;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3Unified>,
+                                gtsam::Point3>
+    GeneralSFMFactorPoseCal3Unified;
+
 template <CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler,
                          gtsam::Cal3Fisheye, gtsam::Cal3Unified}>
 virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {