Merging 'master' into 'wrap'

wrap/DOCS.md

@@ -50,6 +50,32 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
     ```
 
     - Class variables are read-write so they can be updated directly in Python.
+    - For the Matlab wrapper, specifying the full property type (including namespaces) is required.
+
+    ```cpp
+    class TriangulationResult {
+      gtsam::SharedNoiseModel noiseModel;
+    };
+    ```
+
+    - If the property is part of an enum within the class, the type should be specified as `gtsam::Class::Enum`. Similarly for templated types where `This` is used, e.g. `gtsam::This::Enum`.
+
+    ```cpp
+    class TriangulationResult {
+      enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
+      gtsam::TriangulationResult::Status status;
+    };
+
+    template<PARAMS>
+    virtual class GncParams {
+      enum Verbosity {
+        SILENT,
+        SUMMARY,
+        VALUES
+      };
+      gtsam::This::Verbosity verbosity;
+    };
+    ```
 
 - Operator Overloading (Python only)
     - You can overload operators just like in C++.

wrap/gtwrap/matlab_wrapper/wrapper.py

@@ -1181,7 +1181,7 @@ class MatlabWrapper(CheckMixin, FormatMixin):
 
     def wrap_collector_function_return_types(self, return_type, func_id):
         """
-        Wrap the return type of the collector function.
+        Wrap the return type of the collector function when a std::pair is returned.
         """
         return_type_text = '  out[' + str(func_id) + '] = '
         pair_value = 'first' if func_id == 0 else 'second'
@@ -1239,10 +1239,10 @@ class MatlabWrapper(CheckMixin, FormatMixin):
 
             if ctype.typename.name not in self.ignore_namespace:
                 expanded += textwrap.indent(
-                    'out[0] = wrap_shared_ptr({}, false);'.format(shared_obj),
+                    'out[0] = wrap_shared_ptr({0}, false);'.format(shared_obj),
                     prefix='  ')
         else:
-            expanded += '  out[0] = wrap< {} >({});'.format(
+            expanded += '  out[0] = wrap< {0} >({1});'.format(
                 ctype.typename.name, obj)
 
         return expanded

wrap/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m

@@ -1,9 +1,13 @@
 %class GeneralSFMFactorCal3Bundler, see Doxygen page for details
 %at https://gtsam.org/doxygen/
 %
+%-------Properties-------
+%verbosity
+%
 classdef GeneralSFMFactorCal3Bundler < handle
   properties
     ptr_gtsamGeneralSFMFactorCal3Bundler = 0
+    verbosity
   end
   methods
     function obj = GeneralSFMFactorCal3Bundler(varargin)
@@ -24,6 +28,16 @@ classdef GeneralSFMFactorCal3Bundler < handle
     %DISPLAY Calls print on the object
     function disp(obj), obj.display; end
     %DISP Calls print on the object
+
+    function varargout = get.verbosity(this)
+        varargout{1} = special_cases_wrapper(11, this);
+        this.verbosity = varargout{1};
+    end
+
+    function set.verbosity(this, value)
+        obj.verbosity = value;
+        special_cases_wrapper(12, this, value);
+    end
   end
 
   methods(Static = true)

wrap/tests/expected/matlab/special_cases_wrapper.cpp

@@ -204,6 +204,21 @@ void gtsamGeneralSFMFactorCal3Bundler_deconstructor_10(int nargout, mxArray *out
   delete self;
 }
 
+void gtsamGeneralSFMFactorCal3Bundler_get_verbosity_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("verbosity",nargout,nargin-1,0);
+  auto obj = unwrap_shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>(in[0], "ptr_gtsamGeneralSFMFactorCal3Bundler");
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity>(obj->verbosity),"gtsam.GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>.Verbosity", false);
+}
+
+void gtsamGeneralSFMFactorCal3Bundler_set_verbosity_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("verbosity",nargout,nargin-1,1);
+  auto obj = unwrap_shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>(in[0], "ptr_gtsamGeneralSFMFactorCal3Bundler");
+  boost::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity> verbosity = unwrap_shared_ptr< gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity >(in[1], "ptr_gtsamGeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>Verbosity");
+  obj->verbosity = *verbosity;
+}
+
 
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
@@ -249,6 +264,12 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
     case 10:
       gtsamGeneralSFMFactorCal3Bundler_deconstructor_10(nargout, out, nargin-1, in+1);
       break;
+    case 11:
+      gtsamGeneralSFMFactorCal3Bundler_get_verbosity_11(nargout, out, nargin-1, in+1);
+      break;
+    case 12:
+      gtsamGeneralSFMFactorCal3Bundler_set_verbosity_12(nargout, out, nargin-1, in+1);
+      break;
     }
   } catch(const std::exception& e) {
     mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());

wrap/tests/expected/python/special_cases_pybind.cpp

@@ -32,7 +32,15 @@ PYBIND11_MODULE(special_cases_py, m_) {
 
     py::class_<gtsam::PinholeCamera<gtsam::Cal3Bundler>, std::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(m_gtsam, "PinholeCameraCal3Bundler");
 
-    py::class_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>, std::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>>(m_gtsam, "GeneralSFMFactorCal3Bundler");
+    py::class_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>, std::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>> generalsfmfactorcal3bundler(m_gtsam, "GeneralSFMFactorCal3Bundler");
+    generalsfmfactorcal3bundler
+        .def_readwrite("verbosity", &gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::verbosity);
+
+    py::enum_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity>(generalsfmfactorcal3bundler, "Verbosity", py::arithmetic())
+        .value("SILENT", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::SILENT)
+        .value("SUMMARY", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::SUMMARY)
+        .value("VALUES", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::VALUES);
+
 
 
 #include "python/specializations.h"

wrap/tests/fixtures/special_cases.i

@@ -17,7 +17,16 @@ class NonlinearFactorGraph {
 
 // Typedef with template as template arg.
 template<CALIBRATION, POINT>
-class GeneralSFMFactor {};
+class GeneralSFMFactor {
+  gtsam::This::Verbosity verbosity;
+
+  enum Verbosity {
+    SILENT,
+    SUMMARY,
+    VALUES
+  };
+};
+
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
 
 // Template as template arg for class property.