From 6f0ea81c5e4ef7e5ab029380f374a06709cd9e5c Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 19 Feb 2015 13:38:20 +0100
Subject: [PATCH] Fixed compile issues

---
 gtsam/geometry/CameraSet.h             |  4 +++-
 gtsam/geometry/tests/testCameraSet.cpp | 20 ++++++++++++--------
 2 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 6d64ca045..c87705088 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -101,7 +101,9 @@ public:
     std::vector<Z> z(nrCameras);
 
     for (size_t i = 0; i < cameras_.size(); i++) {
-      Matrix Fi(ZDim, 6), Ei(ZDim, 3), Hi(ZDim, Dim - 6);
+      Eigen::Matrix<double, ZDim, 6> Fi;
+      Eigen::Matrix<double, ZDim, 3> Ei;
+      Eigen::Matrix<double, ZDim, Dim - 6> Hi;
       z[i] = cameras_[i].project(point, F ? &Fi : 0, E ? &Ei : 0, H ? &Hi : 0);
       if (F) F->block<ZDim, 6>(ZDim * i, 0) = Fi;
       if (E) E->block<ZDim, 3>(ZDim * i, 0) = Ei;
diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp
index 730d7fa36..5bf79e0b4 100644
--- a/gtsam/geometry/tests/testCameraSet.cpp
+++ b/gtsam/geometry/tests/testCameraSet.cpp
@@ -18,6 +18,7 @@
 
 #include <gtsam/geometry/CameraSet.h>
 #include <gtsam/geometry/Pose3.h>
+#include <gtsam/base/numericalDerivative.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;
@@ -26,20 +27,23 @@ using namespace gtsam;
 /* ************************************************************************* */
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3Bundler.h>
-class PinholeSet: public CameraSet<PinholeCamera<Cal3Bundler> > {
-};
-
 TEST(CameraSet, Pinhole) {
-  PinholeSet f;
+  typedef PinholeCamera<Cal3Bundler> Camera;
+  CameraSet<Camera> set;
+  set.add(Camera());
+  set.add(Camera());
+  Point3 p(0,0,1);
+  Matrix F,E,H;
+  vector<Point2> z = set.project(p,F,E,H);
+  Point2 expected;
+  CHECK(assert_equal(expected,z[0]));
+  CHECK(assert_equal(expected,z[1]));
 }
 
 /* ************************************************************************* */
 #include <gtsam/geometry/StereoCamera.h>
-class StereoSet: public CameraSet<StereoCamera> {
-};
-
 TEST(CameraSet, Stereo) {
-  StereoSet f;
+  CameraSet<StereoCamera> f;
 }
 
 /* ************************************************************************* */