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Fix shared pointer handling in MATLAB bindings #2725

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6 changes: 3 additions & 3 deletions gtsam/basis/basis.i
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Original file line number Diff line number Diff line change
Expand Up @@ -193,10 +193,10 @@ class FitBasis {

static gtsam::NonlinearFactorGraph NonlinearGraph(
const std::map<double, double>& sequence,
const std::shared_ptr<gtsam::noiseModel::Base>& model, size_t N);
static gtsam::GaussianFactorGraph::shared_ptr LinearGraph(
const gtsam::noiseModel::Base* model, size_t N);
static gtsam::GaussianFactorGraph* LinearGraph(
const std::map<double, double>& sequence,
const std::shared_ptr<gtsam::noiseModel::Base>& model, size_t N);
const gtsam::noiseModel::Base* model, size_t N);
gtsam::This::Parameters parameters() const;
};

Expand Down
6 changes: 3 additions & 3 deletions gtsam/constrained/constrained.i
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Expand Up @@ -107,9 +107,9 @@ class LpProblem : gtsam::ConstrainedOptProblem {
double objective(const gtsam::Values& values) const;
gtsam::Values optimize(
const gtsam::Values& initialValues,
std::shared_ptr<gtsam::ActiveSetSolverParams> params = nullptr) const;
gtsam::ActiveSetSolverParams* params = nullptr) const;
gtsam::Values optimize(
std::shared_ptr<gtsam::ActiveSetSolverParams> params = nullptr) const;
gtsam::ActiveSetSolverParams* params = nullptr) const;
};

#include <gtsam/constrained/QpCost.h>
Expand Down Expand Up @@ -224,7 +224,7 @@ virtual class AugmentedLagrangianOptimizer {
AugmentedLagrangianOptimizer(
const gtsam::ConstrainedOptProblem& problem,
const gtsam::Values& initialValues,
gtsam::AugmentedLagrangianParams::shared_ptr p);
gtsam::AugmentedLagrangianParams* p);

gtsam::Values optimize() const;
};
Expand Down
42 changes: 21 additions & 21 deletions gtsam/discrete/discrete.i
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Expand Up @@ -236,7 +236,7 @@ class DiscreteBayesNet {
class DiscreteBayesTreeClique {
DiscreteBayesTreeClique();
DiscreteBayesTreeClique(const gtsam::DiscreteConditional* conditional);
const gtsam::DiscreteConditional::shared_ptr& conditional() const;
const gtsam::DiscreteConditional* conditional() const;
bool isRoot() const;
size_t nrChildren() const;
const gtsam::DiscreteBayesTreeClique* operator[](size_t i) const;
Expand All @@ -253,11 +253,11 @@ class DiscreteBayesTreeClique {
class DiscreteBayesTree {
DiscreteBayesTree();
void insertRoot(
const std::shared_ptr<gtsam::DiscreteBayesTreeClique>& subtree);
const gtsam::DiscreteBayesTreeClique* subtree);
void addClique(
const std::shared_ptr<gtsam::DiscreteBayesTreeClique>& clique,
const std::shared_ptr<gtsam::DiscreteBayesTreeClique>& parent_clique =
std::shared_ptr<gtsam::DiscreteBayesTreeClique>());
const gtsam::DiscreteBayesTreeClique* clique,
const gtsam::DiscreteBayesTreeClique* parent_clique =
nullptr);

void print(string s = "DiscreteBayesTree\n",
const gtsam::KeyFormatter& keyFormatter =
Expand All @@ -267,23 +267,23 @@ class DiscreteBayesTree {
size_t size() const;
bool empty() const;
const DiscreteBayesTreeClique* operator[](gtsam::Key j) const;
const std::shared_ptr<gtsam::DiscreteBayesTreeClique>& clique(
const gtsam::DiscreteBayesTreeClique* clique(
gtsam::Key j) const;
size_t numCachedSeparatorMarginals() const;

std::shared_ptr<gtsam::DiscreteConditional> marginalFactor(
gtsam::DiscreteConditional* marginalFactor(
gtsam::Key j,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate))
const;
std::shared_ptr<gtsam::DiscreteFactorGraph> joint(
gtsam::DiscreteFactorGraph* joint(
gtsam::Key j1, gtsam::Key j2,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate))
const;
std::shared_ptr<gtsam::DiscreteBayesNet> jointBayesNet(
gtsam::DiscreteBayesNet* jointBayesNet(
gtsam::Key j1, gtsam::Key j2,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
Expand Down Expand Up @@ -342,63 +342,63 @@ EliminateForMPE(const gtsam::DiscreteFactorGraph& factors,

#include <gtsam/inference/EliminateableFactorGraph.h>
class DiscreteFactorGraph {
std::shared_ptr<gtsam::DiscreteBayesNet> eliminateSequential(
gtsam::DiscreteBayesNet* eliminateSequential(
gtsam::DiscreteFactorGraph::OptionalOrderingType orderingType = std::nullopt,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate),
gtsam::DiscreteFactorGraph::OptionalVariableIndex variableIndex = std::nullopt)
const;
std::shared_ptr<gtsam::DiscreteBayesNet> eliminateSequential(
gtsam::DiscreteBayesNet* eliminateSequential(
const gtsam::Ordering& ordering,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate),
gtsam::DiscreteFactorGraph::OptionalVariableIndex variableIndex = std::nullopt)
const;
pair<std::shared_ptr<gtsam::DiscreteBayesNet>,
std::shared_ptr<gtsam::DiscreteFactorGraph>>
pair<gtsam::DiscreteBayesNet*,
gtsam::DiscreteFactorGraph*>
eliminatePartialSequential(
const gtsam::Ordering& ordering,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate),
gtsam::DiscreteFactorGraph::OptionalVariableIndex variableIndex = std::nullopt)
const;
pair<std::shared_ptr<gtsam::DiscreteBayesNet>,
std::shared_ptr<gtsam::DiscreteFactorGraph>>
pair<gtsam::DiscreteBayesNet*,
gtsam::DiscreteFactorGraph*>
eliminatePartialSequential(
const gtsam::KeyVector& variables,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate),
gtsam::DiscreteFactorGraph::OptionalVariableIndex variableIndex = std::nullopt)
const;
std::shared_ptr<gtsam::DiscreteBayesTree> eliminateMultifrontal(
gtsam::DiscreteBayesTree* eliminateMultifrontal(
gtsam::DiscreteFactorGraph::OptionalOrderingType orderingType = std::nullopt,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate),
gtsam::DiscreteFactorGraph::OptionalVariableIndex variableIndex = std::nullopt)
const;
std::shared_ptr<gtsam::DiscreteBayesTree> eliminateMultifrontal(
gtsam::DiscreteBayesTree* eliminateMultifrontal(
const gtsam::Ordering& ordering,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate),
gtsam::DiscreteFactorGraph::OptionalVariableIndex variableIndex = std::nullopt)
const;
pair<std::shared_ptr<gtsam::DiscreteBayesTree>,
std::shared_ptr<gtsam::DiscreteFactorGraph>>
pair<gtsam::DiscreteBayesTree*,
gtsam::DiscreteFactorGraph*>
eliminatePartialMultifrontal(
const gtsam::Ordering& ordering,
const gtsam::DiscreteFactorGraph::Eliminate& function =
gtsam::DiscreteFactorGraph::Eliminate(
gtsam::DiscreteFactorGraph::EliminationTraitsType::DefaultEliminate),
gtsam::DiscreteFactorGraph::OptionalVariableIndex variableIndex = std::nullopt)
const;
pair<std::shared_ptr<gtsam::DiscreteBayesTree>,
std::shared_ptr<gtsam::DiscreteFactorGraph>>
pair<gtsam::DiscreteBayesTree*,
gtsam::DiscreteFactorGraph*>
eliminatePartialMultifrontal(
const gtsam::KeyVector& variables,
const gtsam::DiscreteFactorGraph::Eliminate& function =
Expand Down
52 changes: 26 additions & 26 deletions gtsam/geometry/cameras.i
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Original file line number Diff line number Diff line change
Expand Up @@ -453,7 +453,7 @@ class PinholePose {
static This Level(const gtsam::Pose2& pose, double height);
static This Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
const gtsam::Point3& upVector,
const std::shared_ptr<CALIBRATION>& K);
const CALIBRATION* K);

// Testable
void print(string s = "PinholePose") const;
Expand Down Expand Up @@ -508,7 +508,7 @@ class SphericalCamera {
SphericalCamera();
SphericalCamera(const gtsam::Pose3& pose);
SphericalCamera(const gtsam::Pose3& pose,
const gtsam::EmptyCal::shared_ptr& cal);
const gtsam::EmptyCal* cal);
SphericalCamera(const gtsam::Vector& v);

// Testable
Expand Down Expand Up @@ -621,13 +621,13 @@ class TriangulationParameters {
double landmarkDistanceThreshold;
double dynamicOutlierRejectionThreshold;
bool useLOST;
gtsam::SharedNoiseModel noiseModel;
gtsam::noiseModel::Base* noiseModel;
TriangulationParameters(const double rankTolerance = 1.0,
const bool enableEPI = false,
double landmarkDistanceThreshold = -1,
double dynamicOutlierRejectionThreshold = -1,
const bool useLOST = false,
const gtsam::SharedNoiseModel& noiseModel = nullptr);
const gtsam::noiseModel::Base* noiseModel = nullptr);
};

// Can be templated but overloaded for convenience.
Expand All @@ -639,22 +639,22 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
const gtsam::Point2Vector& measurements,
double rank_tol = 1e-9,
bool optimize = false,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
Expand All @@ -670,22 +670,22 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
const gtsam::Point2Vector& measurements,
double rank_tol = 1e-9,
bool optimize = false,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3DS2& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3DS2* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3DS2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3DS2& cameras,
const gtsam::Point2Vector& measurements,
Expand All @@ -701,22 +701,22 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
const gtsam::Point2Vector& measurements,
double rank_tol = 1e-9,
bool optimize = false,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
Expand All @@ -732,22 +732,22 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
const gtsam::Point2Vector& measurements,
double rank_tol = 1e-9,
bool optimize = false,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3Fisheye* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements,
Expand All @@ -763,22 +763,22 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
const gtsam::Point2Vector& measurements,
double rank_tol = 1e-9,
bool optimize = false,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3Unified* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
Expand All @@ -793,13 +793,13 @@ gtsam::Point3 triangulatePoint3(
const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
const gtsam::SphericalCamera::MeasurementVector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr,
const gtsam::noiseModel::Base* model = nullptr,
const bool useLOST = false);
gtsam::Point3 triangulateNonlinear(
const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
const gtsam::SphericalCamera::MeasurementVector& measurements,
const gtsam::Point3& initialEstimate,
const gtsam::SharedNoiseModel& model = nullptr);
const gtsam::noiseModel::Base* model = nullptr);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSet<gtsam::SphericalCamera>& cameras,
const gtsam::SphericalCamera::MeasurementVector& measurements,
Expand Down
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