From d54e234f93128c3c612e0ef0a2c65cb9a1182fae Mon Sep 17 00:00:00 2001
From: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com>
Date: Sat, 10 Jul 2021 22:03:17 +0200
Subject: [PATCH] Add ambiguous calibrate/uncalibrate declarations.

Without declaring calibrate / uncalibrated in the interface specification, the functions of the Base class Cal3DS2_Base is called.
The layout of the optional Jacobian matrix is 2x10 in Cal3Unified and 2x9 in Cal3DS2_Base, so this are different function calls.
---
 gtsam/gtsam.i | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index ce251802ce..97012c2910 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -910,6 +910,12 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
   gtsam::Cal3Unified retract(Vector v) const;
   Vector localCoordinates(const gtsam::Cal3Unified& c) const;
 
+  // Action on Point2
+  // Note: the signature of this functions differ from the functions
+  // with equal name in the base class.
+  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
+  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
+
   // enabling serialization functionality
   void serialize() const;