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Merge branch 'develop' into feature/cython-examples

release/4.3a0
Frank Dellaert 2018-10-14 10:34:07 -04:00
parent c68d00fd55 a47e3bc02d
commit aae802f89c
2 changed files with 77 additions and 25 deletions
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2
cmake/GtsamCythonWrap.cmake
View File

@ -95,7 +95,7 @@ function(cythonize target pyx_file output_lib_we output_dir include_dirs libs in
# Late dependency injection, to make sure this gets called whenever the interface header is updated
# See: https://stackoverflow.com/questions/40032593/cmake-does-not-rebuild-dependent-after-prerequisite-changes
add_custom_command(OUTPUT ${generated_cpp} DEPENDS ${interface_header} APPEND)
add_custom_command(OUTPUT ${generated_cpp} DEPENDS ${interface_header} ${pyx_file} APPEND)
if (NOT "${dependencies}" STREQUAL "")
add_dependencies(${target}_pyx2cpp "${dependencies}")
endif()

100
cython/gtsam_eigency/eigency_cpp.h
View File

@ -306,10 +306,17 @@ public:
: cols),
stride
) {}
MapBase &operator=(const MatrixType &other) {
Base::operator=(other);
return *this;
}
virtual ~MapBase() { }
};
template <template<class,int,int,int,int,int> class DenseBase,
template <template<class,int,int,int,int,int> class EigencyDenseBase,
typename Scalar,
int _Rows, int _Cols,
int _Options = Eigen::AutoAlign |
@ -341,16 +348,18 @@ template <template<class,int,int,int,int,int> class DenseBase,
int _StrideOuter=0, int _StrideInner=0,
int _MaxRows = _Rows,
int _MaxCols = _Cols>
class FlattenedMap: public MapBase<DenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, _MapOptions, Eigen::Stride<_StrideOuter, _StrideInner> > {
class FlattenedMap: public MapBase<EigencyDenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, _MapOptions, Eigen::Stride<_StrideOuter, _StrideInner> > {
public:
typedef MapBase<DenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, _MapOptions, Eigen::Stride<_StrideOuter, _StrideInner> > Base;
typedef MapBase<EigencyDenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, _MapOptions, Eigen::Stride<_StrideOuter, _StrideInner> > Base;
FlattenedMap()
: Base(NULL, 0, 0) {}
: Base(NULL, 0, 0),
object_(NULL) {}
FlattenedMap(Scalar *data, long rows, long cols, long outer_stride=0, long inner_stride=0)
: Base(data, rows, cols,
Eigen::Stride<_StrideOuter, _StrideInner>(outer_stride, inner_stride)) {
Eigen::Stride<_StrideOuter, _StrideInner>(outer_stride, inner_stride)),
object_(NULL) {
}
FlattenedMap(PyArrayObject *object)
@ -359,18 +368,26 @@ public:
(((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[0] : 1,
(((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[1] : ((PyArrayObject*)object)->dimensions[0],
Eigen::Stride<_StrideOuter, _StrideInner>(_StrideOuter != Eigen::Dynamic ? _StrideOuter : (((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[0] : 1,
_StrideInner != Eigen::Dynamic ? _StrideInner : (((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[1] : ((PyArrayObject*)object)->dimensions[0])) {
_StrideInner != Eigen::Dynamic ? _StrideInner : (((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[1] : ((PyArrayObject*)object)->dimensions[0])),
object_(object) {
if (((PyObject*)object != Py_None) && !PyArray_ISONESEGMENT(object))
throw std::invalid_argument("Numpy array must be a in one contiguous segment to be able to be transferred to a Eigen Map.");
Py_XINCREF(object_);
}
FlattenedMap &operator=(const FlattenedMap &other) {
// Replace the memory that we point to (not a memory allocation)
new (this) FlattenedMap(const_cast<Scalar*>(other.data()),
other.rows(),
other.cols(),
other.outerStride(),
other.innerStride());
if (other.object_) {
new (this) FlattenedMap(other.object_);
} else {
// Replace the memory that we point to (not a memory allocation)
new (this) FlattenedMap(const_cast<Scalar*>(other.data()),
other.rows(),
other.cols(),
other.outerStride(),
other.innerStride());
}
return *this;
}
@ -382,9 +399,16 @@ public:
return static_cast<Base&>(*this);
}
operator DenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>() const {
return DenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>(static_cast<Base>(*this));
operator EigencyDenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>() const {
return EigencyDenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>(static_cast<Base>(*this));
}
virtual ~FlattenedMap() {
Py_XDECREF(object_);
}
private:
PyArrayObject * const object_;
};
@ -394,39 +418,60 @@ public:
typedef MapBase<MatrixType> Base;
typedef typename MatrixType::Scalar Scalar;
enum {
RowsAtCompileTime = Base::Base::RowsAtCompileTime,
ColsAtCompileTime = Base::Base::ColsAtCompileTime
};
Map()
: Base(NULL, 0, 0) {
: Base(NULL,
(RowsAtCompileTime == Eigen::Dynamic) ? 0 : RowsAtCompileTime,
(ColsAtCompileTime == Eigen::Dynamic) ? 0 : ColsAtCompileTime),
object_(NULL) {
}
Map(Scalar *data, long rows, long cols)
: Base(data, rows, cols) {}
: Base(data, rows, cols),
object_(NULL) {}
Map(PyArrayObject *object)
: Base((PyObject*)object == Py_None? NULL: (Scalar *)object->data,
// ROW: If array is in row-major order, transpose (see README)
(PyObject*)object == Py_None? 0 :
(PyArray_IS_C_CONTIGUOUS(object)
(!PyArray_IS_F_CONTIGUOUS(object)
? ((object->nd == 1)
? 1 // ROW: If 1D row-major numpy array, set to 1 (row vector)
: object->dimensions[1])
: object->dimensions[0]),
// COLUMN: If array is in row-major order: transpose (see README)
(PyObject*)object == Py_None? 0 :
(PyArray_IS_C_CONTIGUOUS(object)
(!PyArray_IS_F_CONTIGUOUS(object)
? object->dimensions[0]
: ((object->nd == 1)
? 1 // COLUMN: If 1D col-major numpy array, set to length (column vector)
: object->dimensions[1]))) {
: object->dimensions[1]))),
object_(object) {
if (((PyObject*)object != Py_None) && !PyArray_ISONESEGMENT(object))
throw std::invalid_argument("Numpy array must be a in one contiguous segment to be able to be transferred to a Eigen Map.");
Py_XINCREF(object_);
}
Map &operator=(const Map &other) {
// Replace the memory that we point to (not a memory allocation)
new (this) Map(const_cast<Scalar*>(other.data()),
other.rows(),
other.cols());
if (other.object_) {
new (this) Map(other.object_);
} else {
// Replace the memory that we point to (not a memory allocation)
new (this) Map(const_cast<Scalar*>(other.data()),
other.rows(),
other.cols());
}
return *this;
}
Map &operator=(const MatrixType &other) {
MapBase<MatrixType>::operator=(other);
return *this;
}
@ -440,7 +485,14 @@ public:
operator MatrixType() const {
return MatrixType(static_cast<Base>(*this));
}
}
virtual ~Map() {
Py_XDECREF(object_);
}
private:
PyArrayObject * const object_;
};