From ece5640133ad01f419c43e641bd71d4fc8ca4c86 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 24 Dec 2022 20:05:45 +0530
Subject: [PATCH 1/2] fix wrapper warnings

---
 gtsam_unstable/gtsam_unstable.i | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index c6dbd4ab6..6ce7be20a 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -21,9 +21,7 @@ virtual class gtsam::noiseModel::Isotropic;
 virtual class gtsam::imuBias::ConstantBias;
 virtual class gtsam::NonlinearFactor;
 virtual class gtsam::NoiseModelFactor;
-virtual class gtsam::NoiseModelFactor2;
-virtual class gtsam::NoiseModelFactor3;
-virtual class gtsam::NoiseModelFactor4;
+virtual class gtsam::NoiseModelFactorN;
 virtual class gtsam::GaussianFactor;
 virtual class gtsam::HessianFactor;
 virtual class gtsam::JacobianFactor;
@@ -430,8 +428,9 @@ virtual class IMUFactor : gtsam::NoiseModelFactor {
   Vector gyro() const;
   Vector accel() const;
   Vector z() const;
-  size_t key1() const;
-  size_t key2() const;
+
+  template <I = {1, 2}>
+  size_t key() const;
 };
 
 #include <gtsam_unstable/dynamics/FullIMUFactor.h>
@@ -448,8 +447,9 @@ virtual class FullIMUFactor : gtsam::NoiseModelFactor {
   Vector gyro() const;
   Vector accel() const;
   Vector z() const;
-  size_t key1() const;
-  size_t key2() const;
+
+  template <I = {1, 2}>
+  size_t key() const;
 };
 
 #include <gtsam_unstable/dynamics/DynamicsPriors.h>
@@ -733,14 +733,14 @@ class AHRS {
 // Tectonic SAM Factors
 
 #include <gtsam_unstable/slam/TSAMFactors.h>
-//typedef gtsam::NoiseModelFactor2<gtsam::Pose2, gtsam::Point2> NLPosePose;
+//typedef gtsam::NoiseModelFactorN<gtsam::Pose2, gtsam::Point2> NLPosePose;
 virtual class DeltaFactor : gtsam::NoiseModelFactor {
   DeltaFactor(size_t i, size_t j, const gtsam::Point2& measured,
       const gtsam::noiseModel::Base* noiseModel);
   //void print(string s) const;
 };
 
-//typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
+//typedef gtsam::NoiseModelFactorN<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
 //    gtsam::Point2> NLPosePosePosePoint;
 virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
   DeltaFactorBase(size_t b1, size_t i, size_t b2, size_t j,
@@ -748,7 +748,7 @@ virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
   //void print(string s) const;
 };
 
-//typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
+//typedef gtsam::NoiseModelFactorN<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
 //    gtsam::Pose2> NLPosePosePosePose;
 virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
   OdometryFactorBase(size_t b1, size_t i, size_t b2, size_t j,

From 6f5e85664c0b58771a1e49e792cc0b4ea2c445cf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 24 Dec 2022 20:36:26 +0530
Subject: [PATCH 2/2] fix some more deprecation warnings

---
 gtsam/slam/StereoFactor.h                         | 2 +-
 gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 3be255e45..1d2ef501d 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -144,7 +144,7 @@ public:
       std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) <<
           " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl;
       if (throwCheirality_)
-        throw StereoCheiralityException(this->key2());
+        throw StereoCheiralityException(this->template key<2>());
     }
     return Vector3::Constant(2.0 * K_->fx());
   }
diff --git a/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp b/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp
index 25d7083f8..3a8cd0c6c 100644
--- a/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp
+++ b/gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp
@@ -15,8 +15,8 @@ namespace gtsam {
 void LocalOrientedPlane3Factor::print(const string& s,
     const KeyFormatter& keyFormatter) const {
   cout << s << (s == "" ? "" : "\n");
-  cout << "LocalOrientedPlane3Factor Factor (" << keyFormatter(key1()) << ", "
-       << keyFormatter(key2()) << ", " << keyFormatter(key3()) << ")\n";
+  cout << "LocalOrientedPlane3Factor Factor (" << keyFormatter(key<1>()) << ", "
+       << keyFormatter(key<2>()) << ", " << keyFormatter(key<3>()) << ")\n";
   measured_p_.print("Measured Plane");
   this->noiseModel_->print("  noise model: ");
 }