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Merge pull request #1663 from borglab/fix/template-project3-expression

release/4.3a0
Varun Agrawal 2023-10-31 08:36:28 -04:00 committed by GitHub
parent b5d19fb446 a06303e55e
commit ba23e45722
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1 changed files with 3 additions and 3 deletions
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6
gtsam/slam/expressions.h
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@ -155,10 +155,10 @@ Point2_ project2(const Expression<CAMERA>& camera_, const Expression<POINT>& p_)
namespace internal {
// Helper template for project3 expression below
template <class CALIBRATION, class POINT>
inline Point2 project6(const Pose3& x, const Point3& p, const Cal3_S2& K,
inline Point2 project6(const Pose3& x, const POINT& p, const CALIBRATION& K,
OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint,
OptionalJacobian<2, 5> Dcal) {
return PinholeCamera<Cal3_S2>(x, K).project(p, Dpose, Dpoint, Dcal);
OptionalJacobian<2, CALIBRATION::dimension> Dcal) {
return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
}
}