From 4c002629318aec7c616bcc2a27c4bc164832dfa6 Mon Sep 17 00:00:00 2001
From: Aleksei Panchenko <nosmokingsurfer@gmail.com>
Date: Wed, 29 May 2024 20:05:45 +0300
Subject: [PATCH] fixing python bindings for FGraphDiff

---
 python_examples/FGraphDiff_2d.py |  5 +++--
 src/pybind/FGraphDiffPy.cpp      | 12 ++++++------
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/python_examples/FGraphDiff_2d.py b/python_examples/FGraphDiff_2d.py
index 3eae4d4..2c454fc 100644
--- a/python_examples/FGraphDiff_2d.py
+++ b/python_examples/FGraphDiff_2d.py
@@ -15,7 +15,8 @@
 graph.add_factor_1pose_2d(np.array([0,0,np.pi/4]),n1,1e6*invCov)
 graph.add_factor_2poses_2d(np.ones(3),n1,n2,invCov)
 
-graph.solve(mrob.LM)
-graph.print(True)
+for i in range(10):
+    graph.solve(mrob.FGraphDiff_GN)
+    graph.print(True)
 
 
diff --git a/src/pybind/FGraphDiffPy.cpp b/src/pybind/FGraphDiffPy.cpp
index f864398..19f6f5e 100644
--- a/src/pybind/FGraphDiffPy.cpp
+++ b/src/pybind/FGraphDiffPy.cpp
@@ -96,12 +96,12 @@ class FGraphDiffPy : public FGraphDiffSolve
 
 void init_FGraphDiff(py::module &m)
 {
-//     py::enum_<FGraphDiffSolve::optimMethod>(m, "FGraphDiff.optimMethod")
-//         .value("GN", FGraphDiffSolve::optimMethod::GN)
-//         .value("LM", FGraphDiffSolve::optimMethod::LM)
-//         .value("LM_ELLIPS", FGraphDiffSolve::optimMethod::LM_ELLIPS)
-//         .export_values()
-//         ;
+    py::enum_<FGraphDiffSolve::optimMethod>(m, "FGraphDiff.optimMethod")
+        .value("FGraphDiff_GN", FGraphDiffSolve::optimMethod::GN)
+        .value("FGraphDiff_LM", FGraphDiffSolve::optimMethod::LM)
+        .value("FGraphDiff_LM_ELLIPS", FGraphDiffSolve::optimMethod::LM_ELLIPS)
+        .export_values()
+        ;
 //     py::enum_<DiffFactor::robustFactorType>(m, "FGraphDiff.robustFactorType")
 //         .value("QUADRATIC", DiffFactor::robustFactorType::QUADRATIC)
 //         .value("CAUCHY", DiffFactor::robustFactorType::CAUCHY)