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Fix apparent non-templated type in expressions

release/4.3a0
Jose Luis Blanco-Claraco 2023-10-30 00:18:45 +01:00
parent b5d19fb446
commit fd02accccb
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1 changed files with 2 additions and 2 deletions
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gtsam/slam/expressions.h
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@ -155,10 +155,10 @@ Point2_ project2(const Expression<CAMERA>& camera_, const Expression<POINT>& p_)
namespace internal {
// Helper template for project3 expression below
template <class CALIBRATION, class POINT>
inline Point2 project6(const Pose3& x, const Point3& p, const Cal3_S2& K,
inline Point2 project6(const Pose3& x, const POINT& p, const CALIBRATION& K,
OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint,
OptionalJacobian<2, 5> Dcal) {
return PinholeCamera<Cal3_S2>(x, K).project(p, Dpose, Dpoint, Dcal);
return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
}
}