Define NO_IMPORT_ARRAY in all cpp files before including NumpyEigenConverter.hpp

This fixes the segmentation fault when converting numpy and Eigen.

The reason is that NumpyEigenConverter.hpp includes numpy/arrayobject.h, and for
the numpy's C-API to work in multiple files we need to define NO_IMPORT_ARRAY
before including numpy/arrayobject.h in all the source files but the one that
defines the module initialization (exportgtsam.cpp in out case), as explained
here:
http://docs.scipy.org/doc/numpy/reference/c-api.array.html#importing-the-api

Note that PY_ARRAY_UNIQUE_SYMBOL, also needed to work multifile, is already
defined on NumpyEigenConverter.hpp.

python/handwritten/exportgtsam.cpp

@@ -18,6 +18,8 @@
 #include <boost/python.hpp>
 #include <boost/cstdint.hpp>
 
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/Vector.h>
 
@@ -55,6 +57,8 @@ void registerNumpyEigenConversions();
 BOOST_PYTHON_MODULE(libgtsam_python){
 
   // Should be the first thing to be done
+  import_array();
+  
   registerNumpyEigenConversions();
 
   exportPoint2();

python/handwritten/geometry/Point2.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/geometry/Point2.h"
 
 using namespace boost::python;

python/handwritten/geometry/Point3.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/geometry/Point3.h"
 
 using namespace boost::python;

python/handwritten/geometry/Pose2.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/geometry/Pose2.h"
 
 using namespace boost::python;

python/handwritten/geometry/Pose3.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/geometry/Pose3.h"
 
 #include "gtsam/geometry/Pose2.h"

python/handwritten/geometry/Rot2.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/geometry/Rot2.h"
 
 using namespace boost::python;

python/handwritten/geometry/Rot3.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/geometry/Rot3.h"
 
 using namespace boost::python;

python/handwritten/linear/NoiseModel.cpp

@@ -23,6 +23,9 @@
 
 #include <boost/python.hpp>
 
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/linear/NoiseModel.h"
 
 using namespace boost::python;

python/handwritten/nonlinear/ISAM2.cpp

@@ -15,6 +15,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/nonlinear/ISAM2.h"
 
 using namespace boost::python;

python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp

@@ -1,4 +1,8 @@
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 
 using namespace boost::python;

python/handwritten/nonlinear/NonlinearFactor.cpp

@@ -15,6 +15,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/nonlinear/NonlinearFactor.h"
 
 using namespace boost::python;

python/handwritten/nonlinear/NonlinearFactorGraph.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/nonlinear/NonlinearFactorGraph.h"
 #include "gtsam/nonlinear/NonlinearFactor.h"
 

python/handwritten/nonlinear/Values.cpp

@@ -15,6 +15,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/nonlinear/Values.h"
 #include "gtsam/geometry/Point3.h"
 #include "gtsam/geometry/Rot3.h"

python/handwritten/slam/BearingFactor.cpp

@@ -1,4 +1,8 @@
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include <gtsam/slam/BearingFactor.h>
 
 using namespace boost::python;

python/handwritten/slam/BetweenFactor.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/slam/BetweenFactor.h"
 #include "gtsam/geometry/Point2.h"
 #include "gtsam/geometry/Rot2.h"

python/handwritten/slam/PriorFactor.cpp

@@ -16,6 +16,10 @@
  **/
 
 #include <boost/python.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
 #include "gtsam/slam/PriorFactor.h"
 #include "gtsam/geometry/Point2.h"
 #include "gtsam/geometry/Rot2.h"

python/handwritten/utils/NumpyEigen.cpp

@@ -16,6 +16,7 @@
 
 #include <boost/python.hpp>
 
+#define NO_IMPORT_ARRAY
 #include <numpy_eigen/NumpyEigenConverter.hpp>
 
 #include "gtsam/base/Matrix.h"
@@ -26,7 +27,8 @@ using namespace gtsam;
 
 void registerNumpyEigenConversions()
 {
-  import_array();
+  // NOTE: import array should be called only in the cpp defining the module
+  // import_array();
   NumpyEigenConverter<Vector>::register_converter();
   NumpyEigenConverter<Vector1>::register_converter();
   NumpyEigenConverter<Vector2>::register_converter();