From eaebb7ea729057f7f8553bd9e6513964e9295590 Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Fri, 25 Nov 2022 16:36:03 +0100
Subject: [PATCH] eigen-allocator: refactor check of pyArray memory layout vs
desired output layout
eigen-allocator: try a fix for mutable Eigen::Ref from Python array with "wrong" layout
* trick transposes pyArray to get the right layout :)
---
include/eigenpy/eigen-allocator.hpp | 41 ++++++++++++++++++-----------
unittest/python/test_std_vector.py | 3 ++-
2 files changed, 27 insertions(+), 17 deletions(-)
diff --git a/include/eigenpy/eigen-allocator.hpp b/include/eigenpy/eigen-allocator.hpp
index 3cde4dd4..1c4f8a64 100644
--- a/include/eigenpy/eigen-allocator.hpp
+++ b/include/eigenpy/eigen-allocator.hpp
@@ -232,6 +232,22 @@ struct EigenAllocator {
};
#if EIGEN_VERSION_AT_LEAST(3, 2, 0)
+/// @brief Check if we need to allocate @tparam MatType to convert @param
+/// pyArray.
+/// @details do not allocate if:
+/// want row-major & data C-contiguous OR
+/// want col-major & data F-contiguous OR
+/// you want a compile-time vector
+/// in these cases, data layout fits desired view layout
+template <typename MatType>
+inline bool is_arr_layout_compatible_with_mat_type(PyArrayObject *pyArray) {
+ bool is_array_C_cont = PyArray_IS_C_CONTIGUOUS(pyArray);
+ bool is_array_F_cont = PyArray_IS_F_CONTIGUOUS(pyArray);
+ return (MatType::IsRowMajor && is_array_C_cont) ||
+ (!MatType::IsRowMajor && is_array_F_cont) ||
+ MatType::IsVectorAtCompileTime;
+}
+
template <typename MatType, int Options, typename Stride>
struct EigenAllocator<Eigen::Ref<MatType, Options, Stride> > {
typedef Eigen::Ref<MatType, Options, Stride> RefType;
@@ -255,14 +271,8 @@ struct EigenAllocator<Eigen::Ref<MatType, Options, Stride> > {
const int pyArray_type_code = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
const int Scalar_type_code = Register::getTypeCode<Scalar>();
if (pyArray_type_code != Scalar_type_code) need_to_allocate |= true;
- if ((MatType::IsRowMajor && (PyArray_IS_C_CONTIGUOUS(pyArray) &&
- !PyArray_IS_F_CONTIGUOUS(pyArray))) ||
- (!MatType::IsRowMajor && (PyArray_IS_F_CONTIGUOUS(pyArray) &&
- !PyArray_IS_C_CONTIGUOUS(pyArray))) ||
- MatType::IsVectorAtCompileTime ||
- (PyArray_IS_F_CONTIGUOUS(pyArray) &&
- PyArray_IS_C_CONTIGUOUS(pyArray))) // no need to allocate
- need_to_allocate |= false;
+ if (is_arr_layout_compatible_with_mat_type<MatType>(pyArray))
+ need_to_allocate |= false; // no need to allocate
else
need_to_allocate |= true;
if (Options !=
@@ -276,6 +286,10 @@ struct EigenAllocator<Eigen::Ref<MatType, Options, Stride> > {
void *raw_ptr = storage->storage.bytes;
if (need_to_allocate) {
+ PyObject *pyarr_transposed = PyArray_Transpose(pyArray, NULL);
+ allocate((PyArrayObject *)pyarr_transposed, storage);
+ /*
+ std::cout << " doing allocate\n";
MatType *mat_ptr;
mat_ptr = details::init_matrix_or_array<MatType>::run(pyArray);
RefType mat_ref(*mat_ptr);
@@ -326,6 +340,7 @@ struct EigenAllocator<Eigen::Ref<MatType, Options, Stride> > {
throw Exception(
"You asked for a conversion which is not implemented.");
}
+ */
} else {
assert(pyArray_type_code == Scalar_type_code);
typename NumpyMap<MatType, Scalar, Options, NumpyMapStride>::EigenMap
@@ -365,14 +380,8 @@ struct EigenAllocator<const Eigen::Ref<const MatType, Options, Stride> > {
const int Scalar_type_code = Register::getTypeCode<Scalar>();
if (pyArray_type_code != Scalar_type_code) need_to_allocate |= true;
- if ((MatType::IsRowMajor && (PyArray_IS_C_CONTIGUOUS(pyArray) &&
- !PyArray_IS_F_CONTIGUOUS(pyArray))) ||
- (!MatType::IsRowMajor && (PyArray_IS_F_CONTIGUOUS(pyArray) &&
- !PyArray_IS_C_CONTIGUOUS(pyArray))) ||
- MatType::IsVectorAtCompileTime ||
- (PyArray_IS_F_CONTIGUOUS(pyArray) &&
- PyArray_IS_C_CONTIGUOUS(pyArray))) // no need to allocate
- need_to_allocate |= false;
+ if (is_arr_layout_compatible_with_mat_type<MatType>(pyArray))
+ need_to_allocate |= false; // no need to allocate
else
need_to_allocate |= true;
if (Options !=
diff --git a/unittest/python/test_std_vector.py b/unittest/python/test_std_vector.py
index 7f7c99a5..53121ec5 100644
--- a/unittest/python/test_std_vector.py
+++ b/unittest/python/test_std_vector.py
@@ -76,9 +76,10 @@ print("-----------------")
print("l3:")
vector.setZero(l3)
pprint.pp(list(l3))
-# checkZero(l3)
+checkZero(l3)
print("-----------------")
print("l4:")
vector.setZero(l4)
pprint.pp(list(l4))
+checkZero(l4)
--
GitLab