Fix shared pointer handling in MATLAB bindings

[ProfFan]

Summary

• normalize shared-ownership declarations to the wrapper T* DSL so MATLAB and Python generate the intended shared_ptr ownership
• add named StereoPoint2Vector and Cal3_S2StereoVector bindings for MATLAB and unstable Python
• preserve existing Python iterable inputs for the new bound vectors
• add shared-pointer lifetime and batch-container regression coverage

Dependency

Depends on borglab/wrap#200 for the MATLAB shared-pointer property-setter generator fix. This PR intentionally contains no direct wrap subtree changes.

Testing

• cmake --build build --target python-test: 497 passed, 6 skipped, 6 subtests passed
• cmake --build build --target python-test-unstable: 11 passed, 6 subtests passed
• cmake --build build --target testSmartStereoProjectionPoseFactor.run -j6
• with Fix shared pointer property assignment in MATLAB wrap#200 applied: generated, compiled, and linked the stable and unstable wrappers with Octave
• with Fix shared pointer property assignment in MATLAB wrap#200 applied: Octave testSharedPointers and testUnstableSharedPointers
• git diff --check

[dellaert]

OK, hold up. The reason the signatures changed was that we could then use pointers instead of lambdas. That only works if the signatures are identical, so I had a PR in wrap (that can still be merged) that takes these identical signatures.

I think you wanted to look into an alternative PR in wrap, but if you want to use method pointers, I think you will need those identical signatures unless you have an other mechanism that doesn’t care about this.

discuss :-)

[dellaert]

Would you also be good to say what prompted this PR, for history’s sake

[ProfFan]

This is not needed because we have another path which is let wrap directly support std::shared_ptr etc