1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
|
#ifndef POSELIB_PYBIND_EXTENSIONS_H_
#define POSELIB_PYBIND_EXTENSIONS_H_
#include <memory>
#include <pybind11/cast.h>
#include <pybind11/eigen.h>
#include <pybind11/pybind11.h>
#include <pybind11/pytypes.h>
#include <pybind11/stl.h>
#include <pybind11/stl_bind.h>
#include <string>
/*
Code for quickly mapping numpy arrays to std::vector<Eigen::Matrix>.
Copied from COLMAP project:
https://github.com/colmap/colmap/blob/main/src/pycolmap/pybind11_extension.h
originally written by Paul-Edouard Sarlin.
*/
namespace PYBIND11_NAMESPACE {
namespace detail {
// Autocast from numpy.ndarray to std::vector<Eigen::Vector>
template <typename Scalar, int Size> struct type_caster<std::vector<Eigen::Matrix<Scalar, Size, 1>>> {
public:
using MatrixType = typename Eigen::Matrix<Scalar, Eigen::Dynamic, Size, Eigen::RowMajor>;
using VectorType = typename Eigen::Matrix<Scalar, Size, 1>;
using props = EigenProps<MatrixType>;
PYBIND11_TYPE_CASTER(std::vector<VectorType>, props::descriptor);
bool load(handle src, bool) {
const auto buf = array::ensure(src);
if (!buf) {
return false;
}
const buffer_info info = buf.request();
if (info.ndim != 2 || info.shape[1] != Size) {
return false;
}
const size_t num_elements = info.shape[0];
value.resize(num_elements);
const auto &mat = src.cast<Eigen::Ref<const MatrixType>>();
Eigen::Map<MatrixType>(reinterpret_cast<Scalar *>(value.data()), num_elements, Size) = mat;
return true;
}
static handle cast(const std::vector<VectorType> &vec, return_value_policy /* policy */, handle h) {
Eigen::Map<const MatrixType> mat(reinterpret_cast<const Scalar *>(vec.data()), vec.size(), Size);
return type_caster<Eigen::Map<const MatrixType>>::cast(mat, return_value_policy::copy, h);
}
};
} // namespace detail
} // namespace PYBIND11_NAMESPACE
#endif
|
