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@@ -0,0 +1,380 @@
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+#include <Eigen/Dense>
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+
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+#include "python.h"
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+
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+template <typename Type> void init_fixed_from_buffer_3(Type &v, py::buffer &b) {
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+ typedef typename Type::Scalar Scalar;
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+
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+ py::buffer_info info = b.request();
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+ if (info.format != py::format_descriptor<Scalar>::value())
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+ throw std::runtime_error("Incompatible buffer format!");
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+ if (!((info.ndim == 1 && info.strides[0] == sizeof(Scalar)) ||
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+ (info.ndim == 2 &&
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+ ((info.shape[0] == 1 && info.strides[0] == sizeof(Scalar) &&
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+ info.shape[1] == 3) ||
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+ (info.shape[1] == 1 && info.strides[1] == sizeof(Scalar) &&
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+ info.shape[0] == 3)))))
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+ throw std::runtime_error("Incompatible buffer dimension!");
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+
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+ memcpy(v.data(), info.ptr, sizeof(Scalar) * 3);
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+}
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+
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+/// Creates Python bindings for an Eigen order-1 tensor of size 3 (i.e. a vector/normal/point)
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+template <typename Type>
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+py::class_<Type> bind_eigen_1_3(py::module &m, const char *name,
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+ py::object parent = py::object()) {
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+ typedef typename Type::Scalar Scalar;
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+
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+ py::class_<Type> vector(m, name, parent);
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+ vector
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+ /* Constructors */
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+ .def(py::init<>())
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+ .def(py::init<Scalar>())
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+ .def(py::init<Scalar, Scalar, Scalar>())
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+ .def("__init__", [](Type &v, const std::vector<Scalar> &v2) {
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+ if (v2.size() != 3)
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+ throw std::runtime_error("Incompatible size!");
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+ memcpy(v.data(), &v2[0], sizeof(Scalar) * 3);
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+ })
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+ .def("__init__", [](Type &v, py::buffer b) {
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+ init_fixed_from_buffer_3(v, b);
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+ })
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+
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+ /* Initialization */
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+ .def("setConstant", [](Type &m, Scalar value) { m.setConstant(value); })
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+ .def("setZero", [](Type &m) { m.setZero(); })
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+
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+ /* Arithmetic operators (def_cast forcefully casts the result back to a
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+ Matrix to avoid type issues with Eigen's crazy expression templates) */
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+ .def_cast(-py::self)
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+ .def_cast(py::self + py::self)
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+ .def_cast(py::self - py::self)
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+ .def_cast(py::self * Scalar())
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+ .def_cast(py::self / Scalar())
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+ .def_cast(py::self += py::self)
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+ .def_cast(py::self -= py::self)
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+ .def_cast(py::self *= Scalar())
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+ .def_cast(py::self /= Scalar())
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+
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+ /* Comparison operators */
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+ .def(py::self == py::self)
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+ .def(py::self != py::self)
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+
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+ /* Python protocol implementations */
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+ .def("__len__", [](const Type &) { return (int) 3; })
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+ .def("__repr__", [](const Type &v) {
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+ std::ostringstream oss;
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+ oss << v;
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+ return oss.str();
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+ })
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+ .def("__getitem__", [](const Type &c, int i) {
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+ if (i < 0 || i >= 3)
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+ throw py::index_error();
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+ return c[i];
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+ })
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+ .def("__setitem__", [](Type &c, int i, Scalar v) {
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+ if (i < 0 || i >= 3)
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+ throw py::index_error();
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+ c[i] = v;
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+ })
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+
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+ /* Buffer access for interacting with NumPy */
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+ .def_buffer([](Type &m) -> py::buffer_info {
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+ return py::buffer_info(
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+ m.data(), /* Pointer to buffer */
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+ sizeof(Scalar), /* Size of one scalar */
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+ /* Python struct-style format descriptor */
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+ py::format_descriptor<Scalar>::value(),
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+ 1, { (size_t) 3 },
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+ { sizeof(Scalar) }
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+ );
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+ });
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+ return vector;
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+}
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+
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+/// Creates Python bindings for a dynamic Eigen order-1 tensor (i.e. a vector)
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+template <typename Type>
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+py::class_<Type> bind_eigen_1(py::module &m, const char *name,
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+ py::object parent = py::object()) {
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+ typedef typename Type::Scalar Scalar;
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+
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+ /* Many Eigen functions are templated and can't easily be referenced using
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+ a function pointer, thus a big portion of the binding code below
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+ instantiates Eigen code using small anonymous wrapper functions */
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+ py::class_<Type> vector(m, name, parent);
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+
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+ vector
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+ /* Constructors */
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+ .def(py::init<>())
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+ .def(py::init<size_t>())
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+ .def("__init__", [](Type &v, const std::vector<Scalar> &v2) {
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+ new (&v) Type(v2.size());
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+ memcpy(v.data(), &v2[0], sizeof(Scalar) * v2.size());
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+ })
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+ .def("__init__", [](Type &v, py::buffer b) {
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+ py::buffer_info info = b.request();
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+ if (info.format != py::format_descriptor<Scalar>::value()) {
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+ throw std::runtime_error("Incompatible buffer format!");
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+ } else if (info.ndim == 1 && info.strides[0] == sizeof(Scalar)) {
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+ new (&v) Type(info.shape[0]);
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+ memcpy(v.data(), info.ptr, sizeof(Scalar) * info.shape[0]);
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+ } else if (info.ndim == 2 && ((info.shape[0] == 1 && info.strides[0] == sizeof(Scalar))
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+ || (info.shape[1] == 1 && info.strides[1] == sizeof(Scalar)))) {
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+ new (&v) Type(info.shape[0] * info.shape[1]);
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+ memcpy(v.data(), info.ptr, sizeof(Scalar) * info.shape[0] * info.shape[1]);
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+ } else {
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+ throw std::runtime_error("Incompatible buffer dimension!");
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+ }
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+ })
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+
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+ /* Size query functions */
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+ .def("size", [](const Type &m) { return m.size(); })
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+ .def("cols", &Type::cols)
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+ .def("rows", &Type::rows)
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+
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+ /* Initialization */
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+ .def("setZero", [](Type &m) { m.setZero(); })
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+ .def("setConstant", [](Type &m, Scalar value) { m.setConstant(value); })
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+
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+ /* Resizing */
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+ .def("resize", [](Type &m, size_t s0) { m.resize(s0); })
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+ .def("resizeLike", [](Type &m, const Type &m2) { m.resizeLike(m2); })
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+ .def("conservativeResize", [](Type &m, size_t s0) { m.conservativeResize(s0); })
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+
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+ /* Component-wise operations */
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+ .def("cwiseAbs", &Type::cwiseAbs)
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+ .def("cwiseAbs2", &Type::cwiseAbs2)
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+ .def("cwiseSqrt", &Type::cwiseSqrt)
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+ .def("cwiseInverse", &Type::cwiseInverse)
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+ .def("cwiseMin", [](const Type &m1, const Type &m2) -> Type { return m1.cwiseMin(m2); })
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+ .def("cwiseMax", [](const Type &m1, const Type &m2) -> Type { return m1.cwiseMax(m2); })
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+ .def("cwiseMin", [](const Type &m1, Scalar s) -> Type { return m1.cwiseMin(s); })
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+ .def("cwiseMax", [](const Type &m1, Scalar s) -> Type { return m1.cwiseMax(s); })
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+ .def("cwiseProduct", [](const Type &m1, const Type &m2) -> Type { return m1.cwiseProduct(m2); })
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+ .def("cwiseQuotient", [](const Type &m1, const Type &m2) -> Type { return m1.cwiseQuotient(m2); })
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+
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+ /* Arithmetic operators (def_cast forcefully casts the result back to a
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+ Type to avoid type issues with Eigen's crazy expression templates) */
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+ .def_cast(-py::self)
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+ .def_cast(py::self + py::self)
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+ .def_cast(py::self - py::self)
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+ .def_cast(py::self * Scalar())
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+ .def_cast(py::self / Scalar())
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+
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+ /* Arithmetic in-place operators */
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+ .def_cast(py::self += py::self)
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+ .def_cast(py::self -= py::self)
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+ .def_cast(py::self *= py::self)
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+ .def_cast(py::self *= Scalar())
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+ .def_cast(py::self /= Scalar())
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+
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+ /* Comparison operators */
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+ .def(py::self == py::self)
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+ .def(py::self != py::self)
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+
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+ /* Python protocol implementations */
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+ .def("__repr__", [](const Type &v) {
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+ std::ostringstream oss;
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+ oss << v.transpose();
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+ return oss.str();
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+ })
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+ .def("__getitem__", [](const Type &m, size_t i) {
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+ if (i >= (size_t) m.size())
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+ throw py::index_error();
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+ return m[i];
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+ })
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+ .def("__setitem__", [](Type &m, size_t i, Scalar v) {
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+ if (i >= (size_t) m.size())
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+ throw py::index_error();
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+ m[i] = v;
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+ })
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+
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+ /* Buffer access for interacting with NumPy */
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+ .def_buffer([](Type &m) -> py::buffer_info {
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+ return py::buffer_info(
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+ m.data(), /* Pointer to buffer */
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+ sizeof(Scalar), /* Size of one scalar */
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+ /* Python struct-style format descriptor */
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+ py::format_descriptor<Scalar>::value(),
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+ 1, /* Number of dimensions */
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+ { (size_t) m.size() }, /* Buffer dimensions */
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+ { sizeof(Scalar) } /* Strides (in bytes) for each index */
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+ );
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+ })
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+
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+ /* Static initializers */
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+ .def_static("Zero", [](size_t n) { return Type(Type::Zero(n)); })
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+ .def_static("Ones", [](size_t n) { return Type(Type::Ones(n)); })
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+ .def_static("Constant", [](size_t n, Scalar value) { return Type(Type::Constant(n, value)); });
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+ return vector;
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+}
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+
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+/// Creates Python bindings for a dynamic Eigen order-2 tensor (i.e. a matrix)
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+template <typename Type>
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+py::class_<Type> bind_eigen_2(py::module &m, const char *name,
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+ py::object parent = py::object()) {
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+ typedef typename Type::Scalar Scalar;
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+
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+ /* Many Eigen functions are templated and can't easily be referenced using
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+ a function pointer, thus a big portion of the binding code below
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+ instantiates Eigen code using small anonymous wrapper functions */
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+ py::class_<Type> matrix(m, name, parent);
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+
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+ matrix
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+ /* Constructors */
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+ .def(py::init<>())
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+ .def(py::init<size_t, size_t>())
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+ .def("__init__", [](Type &m, Scalar f) {
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+ new (&m) Type(1, 1);
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+ m(0, 0) = f;
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+ })
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+ .def("__init__", [](Type &m, py::buffer b) {
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+ py::buffer_info info = b.request();
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+ if (info.format != py::format_descriptor<Scalar>::value())
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+ throw std::runtime_error("Incompatible buffer format!");
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+ if (info.ndim == 1) {
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+ new (&m) Type(info.shape[0], 1);
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+ memcpy(m.data(), info.ptr, sizeof(Scalar) * m.size());
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+ } else if (info.ndim == 2) {
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+ if (info.strides[0] == sizeof(Scalar)) {
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+ new (&m) Type(info.shape[0], info.shape[1]);
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+ memcpy(m.data(), info.ptr, sizeof(Scalar) * m.size());
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+ } else {
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+ new (&m) Type(info.shape[1], info.shape[0]);
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+ memcpy(m.data(), info.ptr, sizeof(Scalar) * m.size());
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+ m.transposeInPlace();
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+ }
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+ } else {
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+ throw std::runtime_error("Incompatible buffer dimension!");
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+ }
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+ })
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+
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+ /* Size query functions */
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+ .def("size", [](const Type &m) { return m.size(); })
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+ .def("cols", &Type::cols)
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+ .def("rows", &Type::rows)
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+
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+ /* Initialization */
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+ .def("setZero", [](Type &m) { m.setZero(); })
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+ .def("setIdentity", [](Type &m) { m.setIdentity(); })
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+ .def("setConstant", [](Type &m, Scalar value) { m.setConstant(value); })
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+
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+ /* Resizing */
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+ .def("resize", [](Type &m, size_t s0, size_t s1) { m.resize(s0, s1); })
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+ .def("resizeLike", [](Type &m, const Type &m2) { m.resizeLike(m2); })
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+ .def("conservativeResize", [](Type &m, size_t s0, size_t s1) { m.conservativeResize(s0, s1); })
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+
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+ /* Component-wise operations */
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+ .def("cwiseAbs", &Type::cwiseAbs)
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+ .def("cwiseAbs2", &Type::cwiseAbs2)
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+ .def("cwiseSqrt", &Type::cwiseSqrt)
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+ .def("cwiseInverse", &Type::cwiseInverse)
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+ .def("cwiseMin", [](const Type &m1, const Type &m2) -> Type { return m1.cwiseMin(m2); })
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+ .def("cwiseMax", [](const Type &m1, const Type &m2) -> Type { return m1.cwiseMax(m2); })
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+ .def("cwiseMin", [](const Type &m1, Scalar s) -> Type { return m1.cwiseMin(s); })
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+ .def("cwiseMax", [](const Type &m1, Scalar s) -> Type { return m1.cwiseMax(s); })
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+ .def("cwiseProduct", [](const Type &m1, const Type &m2) -> Type { return m1.cwiseProduct(m2); })
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+ .def("cwiseQuotient", [](const Type &m1, const Type &m2) -> Type { return m1.cwiseQuotient(m2); })
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+
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+ /* Arithmetic operators (def_cast forcefully casts the result back to a
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+ Type to avoid type issues with Eigen's crazy expression templates) */
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+ .def_cast(-py::self)
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+ .def_cast(py::self + py::self)
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+ .def_cast(py::self - py::self)
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+ .def_cast(py::self * py::self)
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+ .def_cast(py::self * Scalar())
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+ .def_cast(py::self / Scalar())
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+
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+ /* Arithmetic in-place operators */
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+ .def_cast(py::self += py::self)
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+ .def_cast(py::self -= py::self)
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+ .def_cast(py::self *= py::self)
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+ .def_cast(py::self *= Scalar())
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+ .def_cast(py::self /= Scalar())
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+
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+ /* Comparison operators */
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+ .def(py::self == py::self)
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+ .def(py::self != py::self)
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+
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+ .def("transposeInPlace", [](Type &m) { m.transposeInPlace(); })
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+ /* Other transformations */
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+ .def("transpose", [](Type &m) -> Type { return m.transpose(); })
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+ /* Python protocol implementations */
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+ .def("__repr__", [](const Type &v) {
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+ std::ostringstream oss;
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+ oss << v;
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+ return oss.str();
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+ })
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+ .def("__getitem__", [](const Type &m, std::pair<size_t, size_t> i) {
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+ if (i.first >= (size_t) m.rows() || i.second >= (size_t) m.cols())
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+ throw py::index_error();
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+ return m(i.first, i.second);
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+ })
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+ .def("__setitem__", [](Type &m, std::pair<size_t, size_t> i, Scalar v) {
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+ if (i.first >= (size_t) m.rows() || i.second >= (size_t) m.cols())
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+ throw py::index_error();
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+ m(i.first, i.second) = v;
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+ })
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+
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+ /* Buffer access for interacting with NumPy */
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+ .def_buffer([](Type &m) -> py::buffer_info {
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+ return py::buffer_info(
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+ m.data(), /* Pointer to buffer */
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+ sizeof(Scalar), /* Size of one scalar */
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+ /* Python struct-style format descriptor */
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+ py::format_descriptor<Scalar>::value(),
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+ 2, /* Number of dimensions */
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+ { (size_t) m.rows(), /* Buffer dimensions */
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+ (size_t) m.cols() },
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+ { sizeof(Scalar), /* Strides (in bytes) for each index */
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+ sizeof(Scalar) * m.rows() }
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+ );
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+ })
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+
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+ /* Static initializers */
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+ .def_static("Zero", [](size_t n, size_t m) { return Type(Type::Zero(n, m)); })
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+ .def_static("Ones", [](size_t n, size_t m) { return Type(Type::Ones(n, m)); })
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+ .def_static("Constant", [](size_t n, size_t m, Scalar value) { return Type(Type::Constant(n, m, value)); })
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+ .def_static("Identity", [](size_t n, size_t m) { return Type(Type::Identity(n, m)); });
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+ return matrix;
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+}
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+
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+void python_export_vector(py::module &m) {
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+
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+ py::module me = m.def_submodule(
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+ "eigen", "Wrappers for Eigen types");
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+
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+ bind_eigen_1<Eigen::VectorXd> (me, "VectorXd");
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+ bind_eigen_1<Eigen::VectorXi> (me, "VectorXi");
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+ bind_eigen_2<Eigen::MatrixXd> (me, "MatrixXd");
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+ bind_eigen_2<Eigen::MatrixXi> (me, "MatrixXi");
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+
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+
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+ /* Bindings for <vector.h> */
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+ auto vector3 = bind_eigen_1_3<Eigen::Vector3d>(me, "Vector3d");
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+ vector3
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+ .def("norm", [](const Eigen::Vector3d &v) { return v.norm(); })
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+ .def("squaredNorm", [](const Eigen::Vector3d &v) { return v.squaredNorm(); })
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+ .def("normalize", [](Eigen::Vector3d &v) { v.normalize(); })
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+ .def("normalized", [](const Eigen::Vector3d &v) -> Eigen::Vector3d { return v.normalized(); })
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+ .def("dot", [](const Eigen::Vector3d &v1, const Eigen::Vector3d &v2) { return v1.dot(v2); })
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+ .def("cross", [](const Eigen::Vector3d &v1, const Eigen::Vector3d &v2) -> Eigen::Vector3d { return v1.cross(v2); })
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+ .def_property("x", [](const Eigen::Vector3d &v) -> double { return v.x(); },
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+ [](Eigen::Vector3d &v, double x) { v.x() = x; }, "X coordinate")
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+ .def_property("y", [](const Eigen::Vector3d &v) -> double { return v.y(); },
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+ [](Eigen::Vector3d &v, double y) { v.y() = y; }, "Y coordinate")
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+ .def_property("z", [](const Eigen::Vector3d &v) -> double { return v.z(); },
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+ [](Eigen::Vector3d &v, double z) { v.z() = z; }, "Z coordinate");
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+
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+ py::implicitly_convertible<py::buffer, Eigen::VectorXd>();
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+ py::implicitly_convertible<py::buffer, Eigen::MatrixXd>();
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+ py::implicitly_convertible<py::buffer, Eigen::VectorXi>();
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+ py::implicitly_convertible<py::buffer, Eigen::MatrixXi>();
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+ py::implicitly_convertible<py::buffer, Eigen::Vector3d>();
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+
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+ py::implicitly_convertible<double, Eigen::VectorXd>();
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+ py::implicitly_convertible<double, Eigen::MatrixXd>();
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+ py::implicitly_convertible<double, Eigen::VectorXi>();
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+ py::implicitly_convertible<double, Eigen::MatrixXi>();
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+ py::implicitly_convertible<double, Eigen::Vector3d>();
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+}
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Daniele Panozzo