Merge pull request #2 from roderick-koehle/patch-2

Forward declaration for Set of Fisheye Cameras
borglab · Jul 8, 2021 · 73d40a5 · 73d40a5
2 parents 03e2744 + 9967c59
commit 73d40a5
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
@@ -20,6 +20,8 @@
 
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Cal3Bundler.h>
+#include <gtsam/geometry/Cal3Fisheye.h>
+#include <gtsam/geometry/Cal3Unified.h>
 #include <gtsam/geometry/CameraSet.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Pose2.h>
@@ -499,6 +501,8 @@ TriangulationResult triangulateSafe(const CameraSet<CAMERA>& cameras,
 // Vector of Cameras - used by the Python/MATLAB wrapper
 using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>;
 using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>;
+using CameraSetCal3Fisheye = CameraSet<PinholeCamera<Cal3Fisheye>>;
+using CameraSetCal3Unified = CameraSet<PinholeCamera<Cal3Unified>>;
 
 } // \namespace gtsam