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Fix apparent non-templated types in expressions #1663

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merged 2 commits into from
Oct 31, 2023
Merged

Fix apparent non-templated types in expressions #1663

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fd02acc
Fix apparent non-templated type in expressions
jlblancoc Oct 29, 2023
a06303e
Update expressions.h
jlblancoc Oct 30, 2023
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6 changes: 3 additions & 3 deletions gtsam/slam/expressions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
OptionalJacobian<2, CALIBRATION::dimension> Dcal) {
return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
}
}

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