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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#pragma once
// If performing a debug build with VS2022 (_MSC_VER == 1930) we need to include
// corecrt.h before pybind so that the _STL_ASSERT macro is defined in a
// compatible way.
//
// pybind11/pybind11.h includes pybind11/detail/common.h, which undefines _DEBUG
// whilst including the Python headers (which in turn include corecrt.h). This
// alters how the _STL_ASSERT macro is defined and causes the build to fail.
//
// see https://github.com/microsoft/onnxruntime/issues/9735
// https://github.com/microsoft/onnxruntime/pull/11495
//
#if defined(_MSC_FULL_VER) && defined(_DEBUG) && _MSC_FULL_VER >= 192930145
#include <corecrt.h>
#endif
#include <pybind11/detail/common.h>
#include <pybind11/detail/internals.h>
#include <pybind11/eigen.h>
#include <pybind11/functional.h>
#include <pybind11/numpy.h>
#include <pybind11/operators.h>
#include <pybind11/pybind11.h> // Include first to suppress compiler warnings
#include <pybind11/stl.h>
#include <pybind11/stl_bind.h>
#include "open3d/pipelines/registration/PoseGraph.h"
#include "open3d/utility/Eigen.h"
#include "open3d/utility/Optional.h"
// We include the type caster for tensor here because it must be included in
// every compilation unit.
#include "pybind/core/tensor_type_caster.h"
namespace py = pybind11;
using namespace py::literals;
typedef std::vector<Eigen::Matrix4d, open3d::utility::Matrix4d_allocator>
temp_eigen_matrix4d;
typedef std::vector<Eigen::Vector4i, open3d::utility::Vector4i_allocator>
temp_eigen_vector4i;
PYBIND11_MAKE_OPAQUE(std::vector<int>);
PYBIND11_MAKE_OPAQUE(std::vector<int64_t>);
PYBIND11_MAKE_OPAQUE(std::vector<uint8_t>);
PYBIND11_MAKE_OPAQUE(std::vector<float>);
PYBIND11_MAKE_OPAQUE(std::vector<double>);
PYBIND11_MAKE_OPAQUE(std::vector<Eigen::Vector3d>);
PYBIND11_MAKE_OPAQUE(std::vector<Eigen::Vector3i>);
PYBIND11_MAKE_OPAQUE(std::vector<Eigen::Vector2d>);
PYBIND11_MAKE_OPAQUE(std::vector<Eigen::Vector2i>);
PYBIND11_MAKE_OPAQUE(std::vector<Eigen::Matrix3d>);
PYBIND11_MAKE_OPAQUE(temp_eigen_matrix4d);
PYBIND11_MAKE_OPAQUE(temp_eigen_vector4i);
PYBIND11_MAKE_OPAQUE(
std::vector<open3d::pipelines::registration::PoseGraphEdge>);
PYBIND11_MAKE_OPAQUE(
std::vector<open3d::pipelines::registration::PoseGraphNode>);
namespace pybind11 {
namespace detail {
template <typename T, typename Class_>
void bind_default_constructor(Class_ &cl) {
cl.def(py::init([]() { return new T(); }), "Default constructor");
}
template <typename T, typename Class_>
void bind_copy_functions(Class_ &cl) {
cl.def(py::init([](const T &cp) { return new T(cp); }), "Copy constructor");
cl.def("__copy__", [](T &v) { return T(v); });
cl.def("__deepcopy__", [](T &v, py::dict &memo) { return T(v); });
}
/// Custom pybind11 type caster for open3d::utility::optional, which backports
/// C++17's `std::optional`. We need compiler supporting C++14 or newer.
/// Typically, this can be used to handle "None" parameters from Python.
///
/// Example python function:
///
/// ```python
/// def add(a, b=None):
/// # Assuming a, b are int.
/// if b is None:
/// return a
/// else:
/// return a + b
/// ```
///
/// Here's the equivalent C++ implementation:
///
/// ```cpp
/// m.def("add",
/// [](int a, open3d::utility::optional<int> b) {
/// if (!b.has_value()) {
/// return a;
/// } else {
/// return a + b.value();
/// }
/// },
/// py::arg("a"), py::arg("b") = py::none()
/// );
/// ```
///
/// Then this function can be called with:
///
/// ```python
/// add(1)
/// add(1, 2)
/// add(1, b=2)
/// add(1, b=None)
/// ```
template <typename T>
struct open3d_optional_caster {
using value_conv = make_caster<typename T::value_type>;
template <typename T_>
static handle cast(T_ &&src, return_value_policy policy, handle parent) {
if (!src) return none().inc_ref();
if (!std::is_lvalue_reference<T>::value) {
policy = return_value_policy_override<T>::policy(policy);
}
return value_conv::cast(*std::forward<T_>(src), policy, parent);
}
bool load(handle src, bool convert) {
if (!src) {
return false;
} else if (src.is_none()) {
return true; // default-constructed value is already empty
}
value_conv inner_caster;
if (!inner_caster.load(src, convert)) return false;
value.emplace(
cast_op<typename T::value_type &&>(std::move(inner_caster)));
return true;
}
PYBIND11_TYPE_CASTER(T, _("Optional[") + value_conv::name + _("]"));
};
template <typename T>
struct type_caster<open3d::utility::optional<T>>
: public open3d_optional_caster<open3d::utility::optional<T>> {};
template <>
struct type_caster<open3d::utility::nullopt_t>
: public void_caster<open3d::utility::nullopt_t> {};
} // namespace detail
} // namespace pybind11
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