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Merge pull request #487 from borglab/fix/tbb_python 

Fix Python wrapper with TBB on
release/4.3a0
Fan Jiang 2020-08-20 18:49:12 -04:00 committed by GitHub
parent 60a948aeba 67ddcaf22d
commit a350295760
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 16 additions and 1 deletions
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1
python/gtsam/gtsam.tpl
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@ -13,6 +13,7 @@
#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include "gtsam/config.h"
#include "gtsam/base/serialization.h"
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.

7
python/gtsam/preamble.h
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@ -1,6 +1,13 @@
// Please refer to: https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
// These are required to save one copy operation on Python calls
#ifdef GTSAM_ALLOCATOR_TBB
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key>>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::BetweenFactor<gtsam::Pose3>>);
#else
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::BetweenFactor<gtsam::Pose3>>);
#endif

9
python/gtsam/specializations.h
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@ -1,6 +1,13 @@
// Please refer to: https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
// These are required to save one copy operation on Python calls
#ifdef GTSAM_ALLOCATOR_TBB
py::bind_vector<std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key> > >(m_, "KeyVector");
py::bind_vector<std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> > >(m_, "Point2Vector");
py::bind_vector<std::vector<gtsam::Pose3> >(m_, "Pose3Vector");
py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > > >(m_, "BetweenFactorPose3s");
#else
py::bind_vector<std::vector<gtsam::Key> >(m_, "KeyVector");
py::bind_vector<std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> > >(m_, "Point2Vector");
py::bind_vector<std::vector<gtsam::Pose3> >(m_, "Pose3Vector");
py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > > >(m_, "BetweenFactorPose3s");
py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > > >(m_, "BetweenFactorPose3s");
#endif