From c8184eb109877e40a503f09d842d88732896014c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Aug 2023 09:55:00 -0400
Subject: [PATCH] fix SphericalCamera traits definition

---
 gtsam/geometry/SphericalCamera.h | 4 ++--
 gtsam/slam/SmartFactorBase.h     | 3 ++-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index a9c38cd69..ef20aa7fe 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -238,9 +238,9 @@ class GTSAM_EXPORT SphericalCamera {
 // end of class SphericalCamera
 
 template <>
-struct traits<SphericalCamera> : public internal::LieGroup<Pose3> {};
+struct traits<SphericalCamera> : public internal::Manifold<SphericalCamera> {};
 
 template <>
-struct traits<const SphericalCamera> : public internal::LieGroup<Pose3> {};
+struct traits<const SphericalCamera> : public internal::Manifold<SphericalCamera> {};
 
 }  // namespace gtsam
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index e0540cc41..5d6ec4445 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -162,8 +162,9 @@ protected:
   /// Collect all cameras: important that in key order.
   virtual Cameras cameras(const Values& values) const {
     Cameras cameras;
-    for(const Key& k: this->keys_)
+    for(const Key& k: this->keys_) {
       cameras.push_back(values.at<CAMERA>(k));
+    }
     return cameras;
   }