From bbe30c31bb84f1a9f0f4707b1944382ce16639a3 Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Tue, 19 Jun 2018 01:00:20 -0400
Subject: [PATCH] remove some wrapping terms to fix toolbox compile

---
 gtsam.h | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index a5e24715a..d0be06652 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -969,9 +969,10 @@ virtual class SimpleCamera {
 // Some typedefs for common camera types
 // PinholeCameraCal3_S2 is the same as SimpleCamera above
 typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
-typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
-typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
-typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
+// due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
+//typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
+//typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
+//typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
 
 #include <gtsam/geometry/StereoCamera.h>
 class StereoCamera {
@@ -2337,7 +2338,8 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
   gtsam::Point2 measured() const;
 };
 typedef gtsam::GeneralSFMFactor<gtsam::SimpleCamera, gtsam::Point3> GeneralSFMFactorCal3_S2;
-typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
+// due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
+//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 
 template<CALIBRATION = {gtsam::Cal3_S2}>
 virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {