From bf026eb33db3f7fbc919b646d5b005e86088612f Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Wed, 20 May 2015 13:30:36 -0400
Subject: [PATCH] Small fixes to make it actually work in Matlab

---
 gtsam.h                       |  5 +++--
 gtsam/geometry/SimpleCamera.h | 14 ++++++++++++--
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index 46913f55c..a716a25cb 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -861,7 +861,7 @@ class PinholeCamera {
   void serialize() const;
 };
 
-class SimpleCamera {
+virtual class SimpleCamera {
   // Standard Constructors and Named Constructors
   SimpleCamera();
   SimpleCamera(const gtsam::Pose3& pose);
@@ -898,7 +898,8 @@ class SimpleCamera {
 
 };
 
-// Do typedefs here so we can also define 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;
diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h
index 38f0804b6..a119096d4 100644
--- a/gtsam/geometry/SimpleCamera.h
+++ b/gtsam/geometry/SimpleCamera.h
@@ -24,10 +24,16 @@
 namespace gtsam {
 
   /// A simple camera class with a Cal3_S2 calibration
-//  typedef PinholeCamera<Cal3_S2> SimpleCamera;
-class SimpleCamera : public PinholeCamera<Cal3_S2> {
+typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
+
+/**
+ * @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
+ * Use PinholeCameraCal3_S2 instead
+ */
+class SimpleCamera : public PinholeCameraCal3_S2 {
 
   typedef PinholeCamera<Cal3_S2> Base;
+  typedef boost::shared_ptr<SimpleCamera> shared_ptr;
 
 public:
 
@@ -98,6 +104,10 @@ public:
        Base(v, K) {
    }
 
+   /// Copy this object as its actual derived type.
+   SimpleCamera::shared_ptr clone() const { return boost::make_shared<SimpleCamera>(*this); }
+
+
    /// @}
    /// @name Manifold
    /// @{