From 7125179e4ba318094c4fb6c685e2c774675175ad Mon Sep 17 00:00:00 2001
From: Sushmita <sushmi246@gmail.com>
Date: Thu, 3 Dec 2020 20:58:51 -0500
Subject: [PATCH] added cmake and preamble

---
 gtsam/gtsam.i                  | 14 ++++++++------
 python/CMakeLists.txt          |  2 ++
 python/gtsam/preamble.h        |  2 ++
 python/gtsam/specializations.h |  2 ++
 4 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 8596106e4..127a6fe45 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -1072,18 +1072,19 @@ template<T>
 class CameraSet {
   CameraSet();
 
-  // common STL methods
-  size_t size() const;
-  bool empty() const;
-  void clear();
+  // // common STL methods
+  // size_t size() const;
+  // bool empty() const;
+  // void clear();
 
   // structure specific methods
   T at(size_t i) const;
   void push_back(const T& cam);
 };
 
-typedef gtsam::CameraSet<gtsam::PinholeCameraCal3_S2> CameraSetCal3_S2;
-typedef gtsam::CameraSet<gtsam::PinholeCameraCal3Bundler> CameraSetCal3Bundler;
+// typedefs added here for shorter type name and to enforce uniformity in naming conventions
+//typedef gtsam::CameraSet<gtsam::PinholeCameraCal3_S2> CameraSetCal3_S2;
+//typedef gtsam::CameraSet<gtsam::PinholeCameraCal3Bundler> CameraSetCal3Bundler;
 
 #include <gtsam/geometry/StereoCamera.h>
 class StereoCamera {
@@ -1116,6 +1117,7 @@ class StereoCamera {
 
 #include <gtsam/geometry/triangulation.h>
 
+// Templates appear not yet supported for free functions - issue raised at borglab/wrap#14 to add support
 gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
     gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements,
     double rank_tol, bool optimize);
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 00b537340..bfe08a76a 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -82,6 +82,8 @@ set(ignore
         gtsam::KeyVector
         gtsam::FixedLagSmootherKeyTimestampMapValue
         gtsam::BinaryMeasurementsUnit3
+        gtsam::CameraSetCal3_S2
+        gtsam::CameraSetCal3Bundler
         gtsam::KeyPairDoubleMap)
         
 pybind_wrap(gtsam_unstable_py # target
diff --git a/python/gtsam/preamble.h b/python/gtsam/preamble.h
index 6166f615e..c8a577431 100644
--- a/python/gtsam/preamble.h
+++ b/python/gtsam/preamble.h
@@ -10,3 +10,5 @@ PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
 PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
 PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> >);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> >);
\ No newline at end of file
diff --git a/python/gtsam/specializations.h b/python/gtsam/specializations.h
index cacad874c..431697aac 100644
--- a/python/gtsam/specializations.h
+++ b/python/gtsam/specializations.h
@@ -13,3 +13,5 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(m_, "Bina
 py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
 py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
+py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> > >(m_, "CameraSetCal3_S2");
+py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> > >(m_, "CameraSetCal3Bundler");