Start wrapping the verbosity options for GNC #845

johnwlambert · 2021-08-14T05:15:58Z

Allow specification of GNC verbosity options via the wrapper.

@varunagrawal do we have gtwrap configured such that we can pipe stdout to the terminal? (ie that this verbosity will do anything for the wrapper?)

ProfFan · 2021-08-14T15:37:46Z

@johnwlambert If you want to export the stdout log to a Python string, we do have a RedirectCout, but it needs a C++ side function. If not then the stdout will just print to the console, no problem, but you cannot access the log on the Python side.

varunagrawal · 2021-08-24T21:22:48Z

Fan is correct. If you're printing to the terminal, then the C++ cout will print without issues. If you've configured a logger on the python side, then the logger will not get the C++ output unless the printing is properly routed via the RedirectCout. Looking at the Pybind docs might help.

johnwlambert · 2021-08-25T12:33:24Z

Got it, thanks @varunagrawal and @ProfFan. Just printing to the terminal is sufficient, no need to redirect the logger for my use case.

On another note, the wrap parser is complaining about how I'm treating the enum here from https://github.com/borglab/gtsam/blob/develop/gtsam/nonlinear/GncParams.h#L48.

Could one of yall take a look to see what I'm doing wrong?

varunagrawal · 2021-08-25T15:04:34Z

I'm not sure we support typedefs for enum values? I'm going to have to check.

varunagrawal · 2021-08-31T13:25:57Z

So yes we don't support typedefs for enums (yet). For your particular use case, you can follow this example from the tests in gtwrap:

class MCU {
  MCU();

  enum Avengers {
    CaptainAmerica,
    IronMan,
    Hulk,
    Hawkeye,
    Thor
  };

  enum GotG {
    Starlord,
    Gamorra,
    Rocket,
    Drax,
    Groot
  };

};

varunagrawal · 2021-09-01T01:38:21Z

gtsam/nonlinear/nonlinear.i

 virtual class GncParams {
  GncParams(const PARAMS& baseOptimizerParams);
  GncParams();
+  void setVerbosityGNC(const gtsam::GncParams::Verbosity value);
  void print(const string& str) const;
 };
+
+typedef gtsam::GncParams::Verbosity::SILENT GncVerbositySilent;
+typedef gtsam::GncParams::Verbosity::SUMMARY GncVerbositySummary;
+typedef gtsam::GncParams::Verbosity::VALUES GncVerbosityValues;


Suggested change

virtual class GncParams {

GncParams(const PARAMS& baseOptimizerParams);

GncParams();

void setVerbosityGNC(const gtsam::GncParams::Verbosity value);

void print(const string& str) const;

};

typedef gtsam::GncParams::Verbosity::SILENT GncVerbositySilent;

typedef gtsam::GncParams::Verbosity::SUMMARY GncVerbositySummary;

typedef gtsam::GncParams::Verbosity::VALUES GncVerbosityValues;

template<PARAMS>

virtual class GncParams {

GncParams(const PARAMS& baseOptimizerParams);

GncParams();

void setVerbosityGNC(const This::Verbosity value);

void print(const string& str) const;

enum Verbosity {

SILENT,

SUMMARY,

VALUES

};

};

thank you, Varun

varunagrawal · 2021-09-01T02:11:49Z

@johnwlambert you'll be interested in borglab/wrap#120 after which my suggested changes should work as expected.

johnwlambert · 2021-09-03T00:54:56Z

it looks like gtwrap is not happy with this syntax, saying:

[ 94%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/DummyFactor.cpp.o
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp: In function ‘void nonlinear(pybind11::module_&)’:
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1128:91: error: ‘This’ does not name a type
         .def("setVerbosityGNC",[](gtsam::GncParams<gtsam::GaussNewtonParams>* self, const This::Verbosity value){ self->setVerbosityGNC(value);}, py::arg("value"))
                                                                                           ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1128:155: error: expected ‘)’ before string constant
         .def("setVerbosityGNC",[](gtsam::GncParams<gtsam::GaussNewtonParams>* self, const This::Verbosity value){ self->setVerbosityGNC(value);}, py::arg("value"))
                                                                                                                                                           ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1128:155: error: expected ‘)’ before string constant
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp: In lambda function:
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1128:155: error: expected ‘{’ before string constant
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp: In function ‘void nonlinear(pybind11::module_&)’:
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1128:155: error: expected ‘)’ before string constant
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1128:163: error: expected ‘;’ before ‘)’ token
         .def("setVerbosityGNC",[](gtsam::GncParams<gtsam::GaussNewtonParams>* self, const This::Verbosity value){ self->setVerbosityGNC(value);}, py::arg("value"))
                                                                                                                                                                   ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1129:149: error: expected primary-expression before ‘,’ token
         .def("print",[](gtsam::GncParams<gtsam::GaussNewtonParams>* self, const string& str){ py::scoped_ostream_redirect output; self->print(str);}, py::arg("str"))
                                                                                                                                                     ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1135:22: error: expected primary-expression before ‘,’ token
                     }, py::arg("str"));
                      ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1147:98: error: ‘This’ does not name a type
         .def("setVerbosityGNC",[](gtsam::GncParams<gtsam::LevenbergMarquardtParams>* self, const This::Verbosity value){ self->setVerbosityGNC(value);}, py::arg("value"))
                                                                                                  ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1147:162: error: expected ‘)’ before string constant
         .def("setVerbosityGNC",[](gtsam::GncParams<gtsam::LevenbergMarquardtParams>* self, const This::Verbosity value){ self->setVerbosityGNC(value);}, py::arg("value"))
                                                                                                                                                                  ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1147:162: error: expected ‘)’ before string constant
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp: In lambda function:
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1147:162: error: expected ‘{’ before string constant
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp: In function ‘void nonlinear(pybind11::module_&)’:
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1147:162: error: expected ‘)’ before string constant
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1147:170: error: expected ‘;’ before ‘)’ token
         .def("setVerbosityGNC",[](gtsam::GncParams<gtsam::LevenbergMarquardtParams>* self, const This::Verbosity value){ self->setVerbosityGNC(value);}, py::arg("value"))
                                                                                                                                                                          ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1148:156: error: expected primary-expression before ‘,’ token
         .def("print",[](gtsam::GncParams<gtsam::LevenbergMarquardtParams>* self, const string& str){ py::scoped_ostream_redirect output; self->print(str);}, py::arg("str"))
                                                                                                                                                            ^
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1154:22: error: expected primary-expression before ‘,’ token
                     }, py::arg("str"));
                      ^
[ 94%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/LocalOrientedPlane3Factor.cpp.o
In file included from /home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/pytypes.h:12:0,
                 from /home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/cast.h:13,
                 from /home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/attr.h:13,
                 from /home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/pybind11.h:44,
                 from /home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/numpy.h:12,
                 from /home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/eigen.h:12,
                 from /home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:13:
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/detail/common.h: In instantiation of ‘struct pybind11::detail::strip_function_object<nonlinear(pybind11::module_&)::<lambda(...)> >’:
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/detail/common.h:672:2:   required by substitution of ‘template<class Function, class F> using function_signature_t = pybind11::detail::conditional_t<std::is_function<_Arg>::value, F, typename std::conditional<(std::is_pointer<_Dp>::value || std::is_member_pointer<F>::value), std::remove_pointer<F>, pybind11::detail::strip_function_object<F> >::type::type> [with Function = nonlinear(pybind11::module_&)::<lambda(...)>; F = std::remove_reference<nonlinear(pybind11::module_&)::<lambda(...)> >::type]’
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/pybind11.h:71:9:   required from ‘pybind11::cpp_function::cpp_function(Func&&, const Extra& ...) [with Func = nonlinear(pybind11::module_&)::<lambda(...)>; Extra = {pybind11::name, pybind11::is_method, pybind11::sibling}; <template-parameter-1-3> = void]’
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/pybind11.h:1194:73:   required from ‘pybind11::class_<type_, options>& pybind11::class_<type_, options>::def(const char*, Func&&, const Extra& ...) [with Func = nonlinear(pybind11::module_&)::<lambda(...)>; Extra = {}; type_ = gtsam::GncParams<gtsam::GaussNewtonParams>; options = {boost::shared_ptr<gtsam::GncParams<gtsam::GaussNewtonParams> >}]’
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1128:162:   required from here
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/detail/common.h:659:71: error: no type named ‘type’ in ‘struct pybind11::detail::remove_class<void (nonlinear(pybind11::module_&)::<lambda(...)>::*)(...) const>’
     using type = typename remove_class<decltype(&F::operator())>::type;
                                                                       ^
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/detail/common.h: In instantiation of ‘struct pybind11::detail::strip_function_object<nonlinear(pybind11::module_&)::<lambda(...)> >’:
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/detail/common.h:672:2:   required by substitution of ‘template<class Function, class F> using function_signature_t = pybind11::detail::conditional_t<std::is_function<_Arg>::value, F, typename std::conditional<(std::is_pointer<_Dp>::value || std::is_member_pointer<F>::value), std::remove_pointer<F>, pybind11::detail::strip_function_object<F> >::type::type> [with Function = nonlinear(pybind11::module_&)::<lambda(...)>; F = std::remove_reference<nonlinear(pybind11::module_&)::<lambda(...)> >::type]’
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/pybind11.h:71:9:   required from ‘pybind11::cpp_function::cpp_function(Func&&, const Extra& ...) [with Func = nonlinear(pybind11::module_&)::<lambda(...)>; Extra = {pybind11::name, pybind11::is_method, pybind11::sibling}; <template-parameter-1-3> = void]’
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/pybind11.h:1194:73:   required from ‘pybind11::class_<type_, options>& pybind11::class_<type_, options>::def(const char*, Func&&, const Extra& ...) [with Func = nonlinear(pybind11::module_&)::<lambda(...)>; Extra = {}; type_ = gtsam::GncParams<gtsam::LevenbergMarquardtParams>; options = {boost::shared_ptr<gtsam::GncParams<gtsam::LevenbergMarquardtParams> >}]’
/home/runner/work/gtsam/gtsam/build/python/nonlinear.cpp:1147:169:   required from here
/home/runner/work/gtsam/gtsam/wrap/pybind11/include/pybind11/detail/common.h:659:71: error: no type named ‘type’ in ‘struct pybind11::detail::remove_class<void (nonlinear(pybind11::module_&)::<lambda(...)>::*)(...) const>’

varunagrawal · 2021-09-03T01:08:13Z

That's because you didn't pull the latest changes into the wrap subtree with the update_wrap.sh script.

varunagrawal · 2021-09-03T01:24:06Z

@johnwlambert you need to run ./update_wrap.sh in the top level directory of GTSAM before the This keyword is parsed correctly. This is because we made the changes to gtwrap but those changes haven't been pulled into the git subtree inside the GTSAM repo.

add6075e8 Merge pull request #121 from borglab/feature/constructor-templates 42d4145bb update instantiate_ctors to handle constructor level templates 455ce6169 update test fixtures 3c37fc2a0 update wrapper test fixtures ffdad925d update interface_parser to pass the tests bf7416213 add interface_parser test for templated constructor 9fe05d0c9 Merge pull request #120 from borglab/feature/templated-namespace 7622e6432 typo fix 88779c5e6 update instantiator to handle templates in the namespace 0ee86f9a3 add test for templated type in namespace git-subtree-dir: wrap git-subtree-split: add6075e8ec0e28d5f47d0a2ecab00deaa9a3da7

Start wrapping the verbosity options for GNC

5dff046

varunagrawal reviewed Sep 1, 2021

View reviewed changes

varunagrawal assigned johnwlambert Sep 2, 2021

use updated wrap syntax for Verbosity enum in .i file

62b1e2c

varunagrawal added 2 commits September 18, 2021 02:17

Merging 'master' into 'wrap'

5057d81

varunagrawal requested review from ProfFan and removed request for ProfFan September 18, 2021 13:02

varunagrawal approved these changes Sep 18, 2021

View reviewed changes

varunagrawal merged commit a83992f into develop Sep 18, 2021

varunagrawal deleted the wrapper-set-gnc-verbosity branch September 18, 2021 13:03

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Start wrapping the verbosity options for GNC #845

Start wrapping the verbosity options for GNC #845

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varunagrawal commented Sep 3, 2021

Start wrapping the verbosity options for GNC #845

Start wrapping the verbosity options for GNC #845

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