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[python] Use macro to avoid shared_ptr registration warnings in boost python 

Warning message was:
../lib/python2.7/site-packages/gtsam/__init__.py:1: RuntimeWarning: to-Python converter for boost::shared_ptr<CLASS_NAME> already registered; second conversion method ignored.
release/4.3a0
Ellon Mendes 2016-06-09 16:14:12 +02:00
parent bd8129d3f7
commit 9de6d200b2
2 changed files with 38 additions and 9 deletions
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22
python/handwritten/linear/NoiseModel.cpp
View File

@ -28,6 +28,20 @@
#include "gtsam/linear/NoiseModel.h"
/* Fix to avoid registration warnings */
// Solution taken from https://github.com/BVLC/caffe/pull/4069/commits/673e8cfc0b8f05f9fa3ebbad7cc6202822e5d9c5
#define REGISTER_SHARED_PTR_TO_PYTHON(PTR) do { \
const boost::python::type_info info = \
boost::python::type_id<boost::shared_ptr<PTR > >(); \
const boost::python::converter::registration* reg = \
boost::python::converter::registry::query(info); \
if (reg == NULL) { \
boost::python::register_ptr_to_python<boost::shared_ptr<PTR > >(); \
} else if ((*reg).m_to_python == NULL) { \
boost::python::register_ptr_to_python<boost::shared_ptr<PTR > >(); \
} \
} while (0)
using namespace boost::python;
using namespace gtsam;
using namespace gtsam::noiseModel;
@ -110,7 +124,7 @@ void exportNoiseModels(){
.def("Covariance",&Gaussian::Covariance, Gaussian_Covariance_overloads())
.staticmethod("Covariance")
;
register_ptr_to_python< boost::shared_ptr<Gaussian> >();
REGISTER_SHARED_PTR_TO_PYTHON(Gaussian);
class_<Diagonal, boost::shared_ptr<Diagonal>, bases<Gaussian> >("Diagonal", no_init)
.def("Sigmas",&Diagonal::Sigmas, Diagonal_Sigmas_overloads())
@ -120,7 +134,7 @@ void exportNoiseModels(){
.def("Precisions",&Diagonal::Precisions, Diagonal_Precisions_overloads())
.staticmethod("Precisions")
;
register_ptr_to_python< boost::shared_ptr<Diagonal> >();
REGISTER_SHARED_PTR_TO_PYTHON(Diagonal);
class_<Isotropic, boost::shared_ptr<Isotropic>, bases<Diagonal> >("Isotropic", no_init)
.def("Sigma",&Isotropic::Sigma, Isotropic_Sigma_overloads())
@ -130,12 +144,12 @@ void exportNoiseModels(){
.def("Precision",&Isotropic::Precision, Isotropic_Precision_overloads())
.staticmethod("Precision")
;
register_ptr_to_python< boost::shared_ptr<Isotropic> >();
REGISTER_SHARED_PTR_TO_PYTHON(Isotropic);
class_<Unit, boost::shared_ptr<Unit>, bases<Isotropic> >("Unit", no_init)
.def("Create",&Unit::Create)
.staticmethod("Create")
;
register_ptr_to_python< boost::shared_ptr<Unit> >();
REGISTER_SHARED_PTR_TO_PYTHON(Unit);
}

25
python/handwritten/navigation/ImuFactor.cpp
View File

@ -22,6 +22,21 @@
#include "gtsam/navigation/ImuFactor.h"
#include "gtsam/navigation/GPSFactor.h"
/* Fix to avoid registration warnings */
// Solution taken from https://github.com/BVLC/caffe/pull/4069/commits/673e8cfc0b8f05f9fa3ebbad7cc6202822e5d9c5
#define REGISTER_SHARED_PTR_TO_PYTHON(PTR) do { \
const boost::python::type_info info = \
boost::python::type_id<boost::shared_ptr<PTR > >(); \
const boost::python::converter::registration* reg = \
boost::python::converter::registry::query(info); \
if (reg == NULL) { \
boost::python::register_ptr_to_python<boost::shared_ptr<PTR > >(); \
} else if ((*reg).m_to_python == NULL) { \
boost::python::register_ptr_to_python<boost::shared_ptr<PTR > >(); \
} \
} while (0)
using namespace boost::python;
using namespace gtsam;
@ -78,7 +93,7 @@ void exportImuFactor() {
.staticmethod("MakeSharedU");
// NOTE(frank): https://mail.python.org/pipermail/cplusplus-sig/2016-January/017362.html
register_ptr_to_python< boost::shared_ptr<PreintegrationParams> >();
REGISTER_SHARED_PTR_TO_PYTHON(PreintegrationParams);
class_<PreintegrationType>(
#ifdef GTSAM_TANGENT_PREINTEGRATION
@ -105,21 +120,21 @@ void exportImuFactor() {
.def("error", &ImuFactor::error)
.def(init<Key, Key, Key, Key, Key, const PreintegratedImuMeasurements&>())
.def(repr(self));
register_ptr_to_python<boost::shared_ptr<ImuFactor>>();
REGISTER_SHARED_PTR_TO_PYTHON(ImuFactor);
class_<ImuFactor2, bases<NonlinearFactor>, boost::shared_ptr<ImuFactor2>>("ImuFactor2")
.def("error", &ImuFactor2::error)
.def(init<Key, Key, Key, const PreintegratedImuMeasurements&>())
.def(repr(self));
register_ptr_to_python<boost::shared_ptr<ImuFactor2>>();
REGISTER_SHARED_PTR_TO_PYTHON(ImuFactor2);
class_<GPSFactor, bases<NonlinearFactor>, boost::shared_ptr<GPSFactor>>("GPSFactor")
.def("error", &GPSFactor::error)
.def(init<Key, const Point3&, noiseModel::Base::shared_ptr>());
register_ptr_to_python<boost::shared_ptr<GPSFactor>>();
REGISTER_SHARED_PTR_TO_PYTHON(GPSFactor);
class_<GPSFactor2, bases<NonlinearFactor>, boost::shared_ptr<GPSFactor2>>("GPSFactor2")
.def("error", &GPSFactor2::error)
.def(init<Key, const Point3&, noiseModel::Base::shared_ptr>());
register_ptr_to_python<boost::shared_ptr<GPSFactor2>>();
REGISTER_SHARED_PTR_TO_PYTHON(GPSFactor2);
}