Free function templating does not work (as expected) #148
Description
I think the global function templating is broken. It should not add the type to the function name (just create the overload for the function), and it also omits the namespace in the code, leading to a compile error
Instead of
m_.def("triangulatePoint3Cal3_S2",[](
const gtsam::Pose3Vector& poses, boost::shared_ptr<gtsam::Cal3_S2> sharedCal,
const gtsam::Point2Vector& measurements, double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model){
return gtsam::triangulatePoint3<Cal3_S2>
(poses, sharedCal, measurements, rank_tol, optimize, model);},
py::arg("poses"), py::arg("sharedCal"), py::arg("measurements"), py::arg("rank_tol"), py::arg("optimize"), py::arg("model") = nullptr);It should be
m_.def("triangulatePoint3",[](
const gtsam::Pose3Vector& poses, boost::shared_ptr<gtsam::Cal3_S2> sharedCal,
const gtsam::Point2Vector& measurements, double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model){
return gtsam::triangulatePoint3<gtsam::Cal3_S2>
(poses, sharedCal, measurements, rank_tol, optimize, model);},
py::arg("poses"), py::arg("sharedCal"), py::arg("measurements"), py::arg("rank_tol"), py::arg("optimize"), py::arg("model") = nullptr);