From cb3a766b30677d662f462a2ee2086a8fb329c892 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 Nov 2020 13:19:13 -0500
Subject: [PATCH] uncomment calibration applications

---
 gtsam/geometry/SimpleCamera.h         |  5 ++---
 gtsam/gtsam.i                         | 10 ++++------
 gtsam_unstable/slam/serialization.cpp |  6 ++----
 tests/testSerializationSLAM.cpp       |  6 ++----
 4 files changed, 10 insertions(+), 17 deletions(-)

diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h
index 04746ba6f..aa00222c7 100644
--- a/gtsam/geometry/SimpleCamera.h
+++ b/gtsam/geometry/SimpleCamera.h
@@ -31,9 +31,8 @@ namespace gtsam {
   /// Also needed as forward declarations in the wrapper.
   using PinholeCameraCal3_S2 = gtsam::PinholeCamera<gtsam::Cal3_S2>;
   using PinholeCameraCal3Bundler = gtsam::PinholeCamera<gtsam::Cal3Bundler>;
-  //TODO Need to fix issue 621 for this to work with wrapper
-  // using PinholeCameraCal3DS2 = gtsam::PinholeCamera<gtsam::Cal3DS2>;
-  // using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
+  using PinholeCameraCal3DS2 = gtsam::PinholeCamera<gtsam::Cal3DS2>;
+  using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
 /**
diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index eb36e73a3..2e1920641 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -881,7 +881,7 @@ virtual class Cal3DS2_Base {
 
   // Action on Point2
   gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
-  gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const;
+  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
 
   // enabling serialization functionality
   void serialize() const;
@@ -1064,9 +1064,8 @@ class PinholeCamera {
 // Some typedefs for common camera types
 // PinholeCameraCal3_S2 is the same as SimpleCamera above
 typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
-//TODO (Issue 621) 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::Cal3DS2> PinholeCameraCal3DS2;
+typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
 typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
 
 #include <gtsam/geometry/StereoCamera.h>
@@ -2634,8 +2633,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
   gtsam::Point2 measured() const;
 };
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
-//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
-//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
 
 template<CALIBRATION = {gtsam::Cal3_S2}>
diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp
index 803e4353a..88a94fd51 100644
--- a/gtsam_unstable/slam/serialization.cpp
+++ b/gtsam_unstable/slam/serialization.cpp
@@ -86,8 +86,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
 typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
 
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
-//TODO fix issue 621
-//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 
 typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
 
@@ -184,8 +183,7 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
 BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
 
 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
-//TODO Fix issue 621
-//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
+BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
 
 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");
 
diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp
index 53086e921..2e99aff71 100644
--- a/tests/testSerializationSLAM.cpp
+++ b/tests/testSerializationSLAM.cpp
@@ -100,8 +100,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
 typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
 
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
-//TODO Fix issue 621 for this to work
-//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
+typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
 
 typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
 
@@ -198,8 +197,7 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
 BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
 
 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
-//TODO fix issue 621
-//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
+BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
 
 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");