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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "pybind/docstring.h"
#include "pybind/open3d_pybind.h"
namespace pybind11 {
template <typename Vector,
typename holder_type = std::unique_ptr<Vector>,
typename... Args>
py::class_<Vector, holder_type> bind_vector_without_repr(
py::module &m, std::string const &name, Args &&... args) {
// hack function to disable __repr__ for the convenient function
// bind_vector()
using Class_ = py::class_<Vector, holder_type>;
Class_ cl(m, name.c_str(), std::forward<Args>(args)...);
cl.def(py::init<>());
cl.def(
"__bool__", [](const Vector &v) -> bool { return !v.empty(); },
"Check whether the list is nonempty");
cl.def("__len__", &Vector::size);
return cl;
}
// - This function is used by Pybind for std::vector<SomeEigenType> constructor.
// This optional constructor is added to avoid too many Python <-> C++ API
// calls when the vector size is large using the default biding method.
// Pybind matches np.float64 array to py::array_t<double> buffer.
// - Directly using templates for the py::array_t<double> and py::array_t<int>
// and etc. doesn't work. The current solution is to explicitly implement
// bindings for each py array types.
template <typename EigenVector>
std::vector<EigenVector> py_array_to_vectors_double(
py::array_t<double, py::array::c_style | py::array::forcecast> array) {
int64_t eigen_vector_size = EigenVector::SizeAtCompileTime;
if (array.ndim() != 2 || array.shape(1) != eigen_vector_size) {
throw py::cast_error();
}
std::vector<EigenVector> eigen_vectors(array.shape(0));
auto array_unchecked = array.mutable_unchecked<2>();
for (auto i = 0; i < array_unchecked.shape(0); ++i) {
// The EigenVector here must be a double-typed eigen vector, since only
// open3d::Vector3dVector binds to py_array_to_vectors_double.
// Therefore, we can use the memory map directly.
eigen_vectors[i] = Eigen::Map<EigenVector>(&array_unchecked(i, 0));
}
return eigen_vectors;
}
template <typename EigenVector>
std::vector<EigenVector> py_array_to_vectors_int(
py::array_t<int, py::array::c_style | py::array::forcecast> array) {
int64_t eigen_vector_size = EigenVector::SizeAtCompileTime;
if (array.ndim() != 2 || array.shape(1) != eigen_vector_size) {
throw py::cast_error();
}
std::vector<EigenVector> eigen_vectors(array.shape(0));
auto array_unchecked = array.mutable_unchecked<2>();
for (auto i = 0; i < array_unchecked.shape(0); ++i) {
eigen_vectors[i] = Eigen::Map<EigenVector>(&array_unchecked(i, 0));
}
return eigen_vectors;
}
template <typename EigenVector,
typename EigenAllocator = Eigen::aligned_allocator<EigenVector>>
std::vector<EigenVector, EigenAllocator>
py_array_to_vectors_int_eigen_allocator(
py::array_t<int, py::array::c_style | py::array::forcecast> array) {
int64_t eigen_vector_size = EigenVector::SizeAtCompileTime;
if (array.ndim() != 2 || array.shape(1) != eigen_vector_size) {
throw py::cast_error();
}
std::vector<EigenVector, EigenAllocator> eigen_vectors(array.shape(0));
auto array_unchecked = array.mutable_unchecked<2>();
for (auto i = 0; i < array_unchecked.shape(0); ++i) {
eigen_vectors[i] = Eigen::Map<EigenVector>(&array_unchecked(i, 0));
}
return eigen_vectors;
}
template <typename EigenVector,
typename EigenAllocator = Eigen::aligned_allocator<EigenVector>>
std::vector<EigenVector, EigenAllocator>
py_array_to_vectors_int64_eigen_allocator(
py::array_t<int64_t, py::array::c_style | py::array::forcecast> array) {
int64_t eigen_vector_size = EigenVector::SizeAtCompileTime;
if (array.ndim() != 2 || array.shape(1) != eigen_vector_size) {
throw py::cast_error();
}
std::vector<EigenVector, EigenAllocator> eigen_vectors(array.shape(0));
auto array_unchecked = array.mutable_unchecked<2>();
for (auto i = 0; i < array_unchecked.shape(0); ++i) {
eigen_vectors[i] = Eigen::Map<EigenVector>(&array_unchecked(i, 0));
}
return eigen_vectors;
}
} // namespace pybind11
namespace {
template <typename Scalar,
typename Vector = std::vector<Scalar>,
typename holder_type = std::unique_ptr<Vector>>
py::class_<Vector, holder_type> pybind_eigen_vector_of_scalar(
py::module &m, const std::string &bind_name) {
auto vec = py::bind_vector<std::vector<Scalar>>(m, bind_name,
py::buffer_protocol());
vec.def_buffer([](std::vector<Scalar> &v) -> py::buffer_info {
return py::buffer_info(v.data(), sizeof(Scalar),
py::format_descriptor<Scalar>::format(), 1,
{v.size()}, {sizeof(Scalar)});
});
vec.def("__copy__",
[](std::vector<Scalar> &v) { return std::vector<Scalar>(v); });
vec.def("__deepcopy__", [](std::vector<Scalar> &v, py::dict &memo) {
return std::vector<Scalar>(v);
});
// We use iterable __init__ by default
// vec.def("__init__", [](std::vector<Scalar> &v,
// py::array_t<Scalar, py::array::c_style> b) {
// py::buffer_info info = b.request();
// if (info.format != py::format_descriptor<Scalar>::format() ||
// info.ndim != 1)
// throw std::runtime_error("Incompatible buffer format!");
// new (&v) std::vector<Scalar>(info.shape[0]);
// memcpy(v.data(), info.ptr, sizeof(Scalar) * v.size());
//});
return vec;
}
template <typename EigenVector,
typename Vector = std::vector<EigenVector>,
typename holder_type = std::unique_ptr<Vector>,
typename InitFunc>
py::class_<Vector, holder_type> pybind_eigen_vector_of_vector(
py::module &m,
const std::string &bind_name,
const std::string &repr_name,
InitFunc init_func) {
typedef typename EigenVector::Scalar Scalar;
auto vec = py::bind_vector_without_repr<std::vector<EigenVector>>(
m, bind_name, py::buffer_protocol());
vec.def(py::init(init_func));
vec.def_buffer([](std::vector<EigenVector> &v) -> py::buffer_info {
size_t rows = EigenVector::RowsAtCompileTime;
return py::buffer_info(v.data(), sizeof(Scalar),
py::format_descriptor<Scalar>::format(), 2,
{v.size(), rows},
{sizeof(EigenVector), sizeof(Scalar)});
});
vec.def("__repr__", [repr_name](const std::vector<EigenVector> &v) {
return repr_name + std::string(" with ") + std::to_string(v.size()) +
std::string(" elements.\n") +
std::string("Use numpy.asarray() to access data.");
});
vec.def("__copy__", [](std::vector<EigenVector> &v) {
return std::vector<EigenVector>(v);
});
vec.def("__deepcopy__", [](std::vector<EigenVector> &v, py::dict &memo) {
return std::vector<EigenVector>(v);
});
// py::detail must be after custom constructor
using Class_ = py::class_<Vector, std::unique_ptr<Vector>>;
py::detail::vector_if_copy_constructible<Vector, Class_>(vec);
py::detail::vector_if_equal_operator<Vector, Class_>(vec);
py::detail::vector_modifiers<Vector, Class_>(vec);
py::detail::vector_accessor<Vector, Class_>(vec);
return vec;
// Bare bones interface
// We choose to disable them because they do not support slice indices
// such as [:,:]. It is recommended to convert it to numpy.asarray()
// to access raw data.
// v.def("__getitem__", [](const std::vector<Eigen::Vector3d> &v,
// std::pair<size_t, size_t> i) {
// if (i.first >= v.size() || i.second >= 3)
// throw py::index_error();
// return v[i.first](i.second);
//});
// v.def("__setitem__", [](std::vector<Eigen::Vector3d> &v,
// std::pair<size_t, size_t> i, double x) {
// if (i.first >= v.size() || i.second >= 3)
// throw py::index_error();
// v[i.first](i.second) = x;
//});
// We use iterable __init__ by default
// vec.def("__init__", [](std::vector<EigenVector> &v,
// py::array_t<Scalar, py::array::c_style> b) {
// py::buffer_info info = b.request();s
// if (info.format !=
// py::format_descriptor<Scalar>::format() ||
// info.ndim != 2 ||
// info.shape[1] != EigenVector::RowsAtCompileTime)
// throw std::runtime_error("Incompatible buffer format!");
// new (&v) std::vector<EigenVector>(info.shape[0]);
// memcpy(v.data(), info.ptr, sizeof(EigenVector) * v.size());
//});
}
template <typename EigenVector,
typename EigenAllocator = Eigen::aligned_allocator<EigenVector>,
typename Vector = std::vector<EigenVector, EigenAllocator>,
typename holder_type = std::unique_ptr<Vector>,
typename InitFunc>
py::class_<Vector, holder_type> pybind_eigen_vector_of_vector_eigen_allocator(
py::module &m,
const std::string &bind_name,
const std::string &repr_name,
InitFunc init_func) {
typedef typename EigenVector::Scalar Scalar;
auto vec = py::bind_vector_without_repr<
std::vector<EigenVector, EigenAllocator>>(m, bind_name,
py::buffer_protocol());
vec.def(py::init(init_func));
vec.def_buffer(
[](std::vector<EigenVector, EigenAllocator> &v) -> py::buffer_info {
size_t rows = EigenVector::RowsAtCompileTime;
return py::buffer_info(v.data(), sizeof(Scalar),
py::format_descriptor<Scalar>::format(),
2, {v.size(), rows},
{sizeof(EigenVector), sizeof(Scalar)});
});
vec.def("__repr__",
[repr_name](const std::vector<EigenVector, EigenAllocator> &v) {
return repr_name + std::string(" with ") +
std::to_string(v.size()) + std::string(" elements.\n") +
std::string("Use numpy.asarray() to access data.");
});
vec.def("__copy__", [](std::vector<EigenVector, EigenAllocator> &v) {
return std::vector<EigenVector, EigenAllocator>(v);
});
vec.def("__deepcopy__",
[](std::vector<EigenVector, EigenAllocator> &v, py::dict &memo) {
return std::vector<EigenVector, EigenAllocator>(v);
});
// py::detail must be after custom constructor
using Class_ = py::class_<Vector, std::unique_ptr<Vector>>;
py::detail::vector_if_copy_constructible<Vector, Class_>(vec);
py::detail::vector_if_equal_operator<Vector, Class_>(vec);
py::detail::vector_modifiers<Vector, Class_>(vec);
py::detail::vector_accessor<Vector, Class_>(vec);
return vec;
}
template <typename EigenMatrix,
typename EigenAllocator = Eigen::aligned_allocator<EigenMatrix>,
typename Vector = std::vector<EigenMatrix, EigenAllocator>,
typename holder_type = std::unique_ptr<Vector>>
py::class_<Vector, holder_type> pybind_eigen_vector_of_matrix(
py::module &m,
const std::string &bind_name,
const std::string &repr_name) {
typedef typename EigenMatrix::Scalar Scalar;
auto vec = py::bind_vector_without_repr<
std::vector<EigenMatrix, EigenAllocator>>(m, bind_name,
py::buffer_protocol());
vec.def_buffer(
[](std::vector<EigenMatrix, EigenAllocator> &v) -> py::buffer_info {
// We use this function to bind Eigen default matrix.
// Thus they are all column major.
size_t rows = EigenMatrix::RowsAtCompileTime;
size_t cols = EigenMatrix::ColsAtCompileTime;
return py::buffer_info(v.data(), sizeof(Scalar),
py::format_descriptor<Scalar>::format(),
3, {v.size(), rows, cols},
{sizeof(EigenMatrix), sizeof(Scalar),
sizeof(Scalar) * rows});
});
vec.def("__repr__",
[repr_name](const std::vector<EigenMatrix, EigenAllocator> &v) {
return repr_name + std::string(" with ") +
std::to_string(v.size()) + std::string(" elements.\n") +
std::string("Use numpy.asarray() to access data.");
});
vec.def("__copy__", [](std::vector<EigenMatrix, EigenAllocator> &v) {
return std::vector<EigenMatrix, EigenAllocator>(v);
});
vec.def("__deepcopy__",
[](std::vector<EigenMatrix, EigenAllocator> &v, py::dict &memo) {
return std::vector<EigenMatrix, EigenAllocator>(v);
});
// py::detail must be after custom constructor
using Class_ = py::class_<Vector, std::unique_ptr<Vector>>;
py::detail::vector_if_copy_constructible<Vector, Class_>(vec);
py::detail::vector_if_equal_operator<Vector, Class_>(vec);
py::detail::vector_modifiers<Vector, Class_>(vec);
py::detail::vector_accessor<Vector, Class_>(vec);
return vec;
}
} // unnamed namespace
namespace open3d {
namespace utility {
void pybind_eigen_declarations(py::module &m) {
auto intvector = pybind_eigen_vector_of_scalar<int>(m, "IntVector");
auto doublevector =
pybind_eigen_vector_of_scalar<double>(m, "DoubleVector");
auto vector3dvector = pybind_eigen_vector_of_vector<Eigen::Vector3d>(
m, "Vector3dVector", "std::vector<Eigen::Vector3d>",
py::py_array_to_vectors_double<Eigen::Vector3d>);
}
void pybind_eigen_definitions(py::module &m) {
auto intvector = static_cast<decltype(pybind_eigen_vector_of_scalar<int>(
m, "IntVector"))>(m.attr("IntVector"));
intvector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return R"(Convert int32 numpy array of shape ``(n,)`` to Open3D format.)";
}),
py::none(), py::none(), "");
auto doublevector =
static_cast<decltype(pybind_eigen_vector_of_scalar<double>(
m, "DoubleVector"))>(m.attr("DoubleVector"));
doublevector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return R"(Convert float64 numpy array of shape ``(n,)`` to Open3D format.)";
}),
py::none(), py::none(), "");
auto vector3dvector =
static_cast<decltype(pybind_eigen_vector_of_vector<Eigen::Vector3d>(
m, "Vector3dVector", "std::vector<Eigen::Vector3d>",
py::py_array_to_vectors_double<Eigen::Vector3d>))>(
m.attr("Vector3dVector"));
vector3dvector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return R"(Convert float64 numpy array of shape ``(n, 3)`` to Open3D format.
Example usage
.. code-block:: python
import open3d
import numpy as np
pcd = open3d.geometry.PointCloud()
np_points = np.random.rand(100, 3)
# From numpy to Open3D
pcd.points = open3d.utility.Vector3dVector(np_points)
# From Open3D to numpy
np_points = np.asarray(pcd.points)
)";
}),
py::none(), py::none(), "");
auto vector3ivector = pybind_eigen_vector_of_vector<Eigen::Vector3i>(
m, "Vector3iVector", "std::vector<Eigen::Vector3i>",
py::py_array_to_vectors_int<Eigen::Vector3i>);
vector3ivector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return R"(Convert int32 numpy array of shape ``(n, 3)`` to Open3D format..
Example usage
.. code-block:: python
import open3d
import numpy as np
# Example mesh
# x, y coordinates:
# [0: (-1, 2)]__________[1: (1, 2)]
# \ /\
# \ (0) / \
# \ / (1)\
# \ / \
# [2: (0, 0)]\/________\[3: (2, 0)]
#
# z coordinate: 0
mesh = open3d.geometry.TriangleMesh()
np_vertices = np.array([[-1, 2, 0],
[1, 2, 0],
[0, 0, 0],
[2, 0, 0]])
np_triangles = np.array([[0, 2, 1],
[1, 2, 3]]).astype(np.int32)
mesh.vertices = open3d.Vector3dVector(np_vertices)
# From numpy to Open3D
mesh.triangles = open3d.Vector3iVector(np_triangles)
# From Open3D to numpy
np_triangles = np.asarray(mesh.triangles)
)";
}),
py::none(), py::none(), "");
auto vector2ivector = pybind_eigen_vector_of_vector<Eigen::Vector2i>(
m, "Vector2iVector", "std::vector<Eigen::Vector2i>",
py::py_array_to_vectors_int<Eigen::Vector2i>);
vector2ivector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return "Convert int32 numpy array of shape ``(n, 2)`` to "
"Open3D format.";
}),
py::none(), py::none(), "");
auto vector2dvector = pybind_eigen_vector_of_vector<Eigen::Vector2d>(
m, "Vector2dVector", "std::vector<Eigen::Vector2d>",
py::py_array_to_vectors_double<Eigen::Vector2d>);
vector2dvector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return "Convert float64 numpy array of shape ``(n, 2)`` to "
"Open3D format.";
}),
py::none(), py::none(), "");
auto matrix3dvector =
pybind_eigen_vector_of_matrix<Eigen::Matrix3d,
std::allocator<Eigen::Matrix3d>>(
m, "Matrix3dVector", "std::vector<Eigen::Matrix3d>");
matrix3dvector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return "Convert float64 numpy array of shape ``(n, 3, 3)`` to "
"Open3D format.";
}),
py::none(), py::none(), "");
auto matrix4dvector = pybind_eigen_vector_of_matrix<Eigen::Matrix4d>(
m, "Matrix4dVector", "std::vector<Eigen::Matrix4d>");
matrix4dvector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return "Convert float64 numpy array of shape ``(n, 4, 4)`` to "
"Open3D format.";
}),
py::none(), py::none(), "");
auto vector4ivector = pybind_eigen_vector_of_vector_eigen_allocator<
Eigen::Vector4i>(
m, "Vector4iVector", "std::vector<Eigen::Vector4i>",
py::py_array_to_vectors_int_eigen_allocator<Eigen::Vector4i>);
vector4ivector.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return "Convert int numpy array of shape ``(n, 4)`` to "
"Open3D format.";
}),
py::none(), py::none(), "");
}
} // namespace utility
} // namespace open3d
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