[codex] Add copy-free matrix view hooks

gtwrap/matlab_wrapper/mixins.py

@@ -20,6 +20,8 @@ class CheckMixin:
     )
     # Ignore the namespace for these datatypes
     ignore_namespace: Tuple = ('Matrix', 'Vector', 'Point2', 'Point3')
+    # Matrix-like view types that can alias MATLAB double matrix storage.
+    matrix_view_types: Tuple = ('ConstMatrixView', )
     # Methods that should be ignored
     ignore_methods: Tuple = ('pickle', )
     # Methods that should not be wrapped directly
@@ -42,6 +44,7 @@ def can_be_pointer(self, arg_type: parser.Type):
         """
         return (arg_type.typename.name not in self.not_ptr_type
                 and arg_type.typename.name not in self.ignore_namespace
+                and not self.is_matrix_view(arg_type)
                 and arg_type.typename.name != 'string')
 
     def is_shared_ptr(self, arg_type: parser.Type):
@@ -67,6 +70,10 @@ def is_ref(self, arg_type: parser.Type):
                arg_type.typename.name not in self.not_ptr_type and \
                arg_type.is_ref
 
+    def is_matrix_view(self, arg_type: parser.Type):
+        """Check if `arg_type` should be unwrapped as a matrix view."""
+        return arg_type.typename.name in self.matrix_view_types
+
     def is_class_enum(self, arg_type: parser.Type, class_: parser.Class):
         """Check if arg_type is an enum in the class `class_`."""
         if class_:

gtwrap/matlab_wrapper/wrapper.py

@@ -51,6 +51,7 @@ def __init__(self,
             'unsigned char': 'unsigned char',
             'Vector': 'double',
             'Matrix': 'double',
+            'ConstMatrixView': 'double',
             'int': 'numeric',
             'size_t': 'numeric',
             'Key': 'numeric',
@@ -69,6 +70,7 @@ def __init__(self,
             'Point3': 'double',
             'Vector': 'double',
             'Matrix': 'double',
+            'ConstMatrixView': 'double',
             'Key': 'numeric',
             'bool': 'bool'
         }
@@ -354,6 +356,11 @@ def _unwrap_argument(self, arg, arg_id=0, instantiated_class=None):
             arg_type = f"{enum_type}"
             unwrap = f'unwrap_enum<{enum_type}>(in[{arg_id}]);'
 
+        elif self.is_matrix_view(arg.ctype):
+            arg_type = self._format_type_name(arg.ctype.typename)
+            unwrap = 'unwrapMatrixView< {ctype} >(in[{id}]);'.format(
+                ctype=arg_type, id=arg_id)
+
         elif self.is_ref(arg.ctype):  # and not constructor:
             arg_type = "{ctype}&".format(ctype=ctype_sep)
             unwrap = '*unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}");'.format(

gtwrap/pybind_wrapper.py

@@ -27,6 +27,26 @@ class PybindWrapper:
     Class to generate binding code for Pybind11 specifically.
     """
 
+    ARG_POLICY_SUPPORT = """
+#include <type_traits>
+
+namespace gtwrap {
+namespace internal {
+
+template <typename T>
+struct PyArgPolicy {
+  static pybind11::arg make(const char* name) { return pybind11::arg(name); }
+};
+
+template <typename T>
+pybind11::arg py_arg(const char* name) {
+  return PyArgPolicy<typename std::decay<T>::type>::make(name);
+}
+
+}  // namespace internal
+}  // namespace gtwrap
+"""
+
     def __init__(self,
                  module_name,
                  top_module_namespaces='',
@@ -70,8 +90,11 @@ def _py_args_names(self, args):
                     default = ' = {arg.default}'.format(arg=arg)
                 else:
                     default = ''
-                argument = 'py::arg("{name}"){default}'.format(
-                    name=arg.name, default='{0}'.format(default))
+                argument = (
+                    'gtwrap::internal::py_arg<{ctype}>("{name}"){default}'
+                ).format(ctype=arg.ctype.to_cpp(),
+                         name=arg.name,
+                         default='{0}'.format(default))
                 py_args.append(argument)
             return ", " + ", ".join(py_args)
         else:
@@ -251,12 +274,13 @@ def _wrap_method(self,
             method,
             (parser.StaticMethod, instantiator.InstantiatedStaticMethod))
         return_void = method.return_type.is_void()
-        return_ref = getattr(
-            getattr(method.return_type, 'type1', None), 'is_ref', False)
+        return_type = getattr(method.return_type, 'type1', None)
+        return_ref = getattr(return_type, 'is_ref', False)
+        return_const = getattr(return_type, 'is_const', False)
 
         # For methods returning const T&, use reference_internal policy
         # to avoid unnecessary copies and keep the returned reference alive.
-        if return_ref and is_method:
+        if return_ref and return_const and is_method:
             lambda_ret = ' -> const auto&'
             ref_policy = ', py::return_value_policy::reference_internal'
         else:
@@ -752,6 +776,8 @@ def wrap_file(self, content, module_name=None, submodules=None):
             module_def = "void {0}(py::module_ &m_)".format(module_name)
             submodules = []
 
+        includes += self.ARG_POLICY_SUPPORT
+
         return self.module_template.format(
             module_def=module_def,
             module_name=module_name,

matlab.h

@@ -429,6 +429,22 @@ gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) {
   return A;
 }
 
+// unwrap a MATLAB double matrix as a const Eigen matrix view without copying
+template <typename MatrixView>
+MatrixView unwrapMatrixView(const mxArray* array) {
+  if (mxIsDouble(array)==false || mxIsComplex(array))
+    error("unwrapMatrixView: not a real double matrix");
+  int m = mxGetM(array), n = mxGetN(array);
+#ifdef DEBUG_WRAP
+  mexPrintf("unwrapMatrixView called with %dx%d argument\n", m,n);
+#endif
+  using Stride = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>;
+  using ConstMatrixMap = Eigen::Map<const gtsam::Matrix, 0, Stride>;
+  const double* data = static_cast<const double*>(mxGetData(array));
+  ConstMatrixMap map(data, m, n, Stride(m, 1));
+  return MatrixView(map);
+}
+
 /*
  [create_object] creates a MATLAB proxy class object with a mexhandle
  in the self property. Matlab does not allow the creation of matlab
@@ -547,4 +563,3 @@ Class* unwrap_ptr(const mxArray* obj, const string& propertyName) {
 //  static_assert(unwrap_shared_ptr_Matrix_attempted, "Matrix cannot be unwrapped as a shared pointer");
 //  return Matrix();
 //}
-