From fd02accccb92417599aca82ae83d2ca718ae984f Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Mon, 30 Oct 2023 00:18:45 +0100
Subject: [PATCH 1/2] Fix apparent non-templated type in expressions

---
 gtsam/slam/expressions.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
index d1bfab7f2..1bed487ee 100644
--- a/gtsam/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@@ -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);
+  return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
 }
 }
 

From a06303e55e238bfcb63d3283ea42d94581da7fe7 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Mon, 30 Oct 2023 01:09:11 +0100
Subject: [PATCH 2/2] Update expressions.h

Template dimension too
---
 gtsam/slam/expressions.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
index 1bed487ee..8d34ce681 100644
--- a/gtsam/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@@ -157,7 +157,7 @@ namespace internal {
 template <class CALIBRATION, class POINT>
 inline Point2 project6(const Pose3& x, const POINT& p, const CALIBRATION& K,
                        OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint,
-                       OptionalJacobian<2, 5> Dcal) {
+                       OptionalJacobian<2, CALIBRATION::dimension> Dcal) {
   return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
 }
 }