release GIL before potentially heavy computations

python/bindings/openravepy_int.cpp

@@ -2001,6 +2001,7 @@ void PyEnvironmentBase::Add(PyInterfaceBasePtr pinterface, py::object oAddMode,
             addMode = py::extract<InterfaceAddMode>(oAddMode);
         }
     }
+    PythonThreadSaver threadsaver;
     _penv->Add(pinterface->GetInterfaceBase(), addMode, cmdargs);
 }
 
@@ -2463,14 +2464,24 @@ object PyEnvironmentBase::plot3(object opoints,float pointsize,object ocolors, i
     pair<size_t,size_t> sizes = _getGraphPointsColors(opoints,ocolors,vpoints,vcolors);
     bool bhasalpha = vcolors.size() == 4*sizes.second;
     if( sizes.first == sizes.second ) {
-        return toPyGraphHandle(_penv->plot3(vpoints.data(),sizes.first,sizeof(float)*3,pointsize,vcolors.data(),drawstyle,bhasalpha));
+        GraphHandlePtr phandle;
+        {
+            PythonThreadSaver saver;
+            phandle = _penv->plot3(vpoints.data(),sizes.first,sizeof(float)*3,pointsize,vcolors.data(),drawstyle,bhasalpha);
+        }
+        return toPyGraphHandle(phandle);
     }
     BOOST_ASSERT(vcolors.size()<=4);
     RaveVector<float> vcolor;
     for(int i = 0; i < (int)vcolors.size(); ++i) {
         vcolor[i] = vcolors[i];
     }
-    return toPyGraphHandle(_penv->plot3(vpoints.data(),sizes.first,sizeof(float)*3,pointsize,vcolor,drawstyle));
+    GraphHandlePtr phandle;
+    {
+        PythonThreadSaver saver;
+        phandle = _penv->plot3(vpoints.data(),sizes.first,sizeof(float)*3,pointsize,vcolor,drawstyle);
+    }
+    return toPyGraphHandle(phandle);
 }
 
 object PyEnvironmentBase::drawlinestrip(object opoints,float linewidth,object ocolors, int drawstyle)

python/bindings/openravepy_kinbody.cpp

@@ -366,7 +366,11 @@ object PyGeometryInfo::SerializeJSON(dReal fUnitScale, object options)
 {
     rapidjson::Document doc;
     KinBody::GeometryInfoPtr pgeominfo = GetGeometryInfo();
-    pgeominfo->SerializeJSON(doc, doc.GetAllocator(), fUnitScale, pyGetIntFromPy(options, 0));
+    const int intOption = pyGetIntFromPy(options, 0);
+    {
+        openravepy::PythonThreadSaver threadsaver;
+        pgeominfo->SerializeJSON(doc, doc.GetAllocator(), fUnitScale, intOption);
+    }
     return toPyObject(doc);
 }
 
@@ -375,7 +379,11 @@ void PyGeometryInfo::DeserializeJSON(object obj, dReal fUnitScale, object option
     rapidjson::Document doc;
     toRapidJSONValue(obj, doc, doc.GetAllocator());
     KinBody::GeometryInfoPtr pgeominfo = GetGeometryInfo();
-    pgeominfo->DeserializeJSON(doc, fUnitScale, pyGetIntFromPy(options, 0));
+    const int intOption = pyGetIntFromPy(options, 0);
+    {
+        openravepy::PythonThreadSaver threadsaver;
+        pgeominfo->DeserializeJSON(doc, fUnitScale, intOption);
+    }
     Init(*pgeominfo);
 }
 
@@ -608,7 +616,11 @@ py::object PyLinkInfo::SerializeJSON(dReal fUnitScale, object options)
 {
     rapidjson::Document doc;
     KinBody::LinkInfoPtr pInfo = GetLinkInfo();
-    pInfo->SerializeJSON(doc, doc.GetAllocator(), fUnitScale, pyGetIntFromPy(options, 0));
+    const int intOption = pyGetIntFromPy(options, 0);
+    {
+        openravepy::PythonThreadSaver threadsaver;
+        pInfo->SerializeJSON(doc, doc.GetAllocator(), fUnitScale, intOption);
+    }
     return toPyObject(doc);
 }
 
@@ -617,7 +629,11 @@ void PyLinkInfo::DeserializeJSON(object obj, dReal fUnitScale, py::object option
     rapidjson::Document doc;
     toRapidJSONValue(obj, doc, doc.GetAllocator());
     KinBody::LinkInfoPtr pInfo = GetLinkInfo();
-    pInfo->DeserializeJSON(doc, fUnitScale, pyGetIntFromPy(options, 0));
+    const int intOption = pyGetIntFromPy(options, 0);
+    {
+        openravepy::PythonThreadSaver threadsaver;
+        pInfo->DeserializeJSON(doc, fUnitScale, intOption);
+    }
     _Update(*pInfo);
 }
 
@@ -1775,6 +1791,7 @@ void PyLink::InitGeometries(object ogeometryinfos)
         }
         geometries[i] = pygeom->GetGeometryInfo();
     }
+    openravepy::PythonThreadSaver threadsaver;
     return _plink->InitGeometries(geometries);
 }
 
@@ -1825,6 +1842,7 @@ void PyLink::SetGroupGeometries(const std::string& name, object ogeometryinfos)
         }
         geometries[i] = pygeom->GetGeometryInfo();
     }
+    openravepy::PythonThreadSaver threadsaver;
     _plink->SetGroupGeometries(name, geometries);
 }
 
@@ -2692,6 +2710,7 @@ bool PyKinBody::InitFromKinBodyInfo(const object pyKinBodyInfo)
     KinBody::KinBodyInfoPtr pKinBodyInfo;
     pKinBodyInfo = ExtractKinBodyInfo(pyKinBodyInfo);
     if(!!pKinBodyInfo) {
+        openravepy::PythonThreadSaver threadsaver;
         return _pbody->InitFromKinBodyInfo(*pKinBodyInfo);
     }
     return false;
@@ -2720,6 +2739,7 @@ bool PyKinBody::InitFromBoxes(const boost::multi_array<dReal,2>& vboxes, bool bD
         vaabbs[i].pos = Vector(vboxes[i][0],vboxes[i][1],vboxes[i][2]);
         vaabbs[i].extents = Vector(vboxes[i][3],vboxes[i][4],vboxes[i][5]);
     }
+    openravepy::PythonThreadSaver threadsaver;
     return _pbody->InitFromBoxes(vaabbs,bDraw,uri);
 }
 
@@ -2745,13 +2765,15 @@ bool PyKinBody::InitFromSpheres(const boost::multi_array<dReal,2>& vspheres, boo
     for(size_t i = 0; i < vvspheres.size(); ++i) {
         vvspheres[i] = Vector(vspheres[i][0],vspheres[i][1],vspheres[i][2],vspheres[i][3]);
     }
+    openravepy::PythonThreadSaver threadsaver;
     return _pbody->InitFromSpheres(vvspheres,bDraw,uri);
 }
 
 bool PyKinBody::InitFromTrimesh(object pytrimesh, bool bDraw, const std::string& uri)
 {
     TriMesh mesh;
     if( ExtractTriMesh(pytrimesh,mesh) ) {
+        openravepy::PythonThreadSaver threadsaver;
         return _pbody->InitFromTrimesh(mesh,bDraw,uri);
     }
     else {
@@ -2769,6 +2791,7 @@ bool PyKinBody::InitFromGeometries(object ogeometries, const std::string& uri)
         }
         geometries[i] = pygeom->GetGeometryInfo();
     }
+    openravepy::PythonThreadSaver threadsaver;
     return _pbody->InitFromGeometries(geometries, uri);
 }
 
@@ -2782,6 +2805,7 @@ void PyKinBody::InitFromLinkInfos(py::object olinkinfos, const std::string& uri)
         }
         linkInfos[i] = *pylinkinfo->GetLinkInfo();
     }
+    openravepy::PythonThreadSaver threadsaver;
     return _pbody->InitFromLinkInfos(linkInfos, uri);
 }
 
@@ -2791,11 +2815,13 @@ bool PyKinBody::Init(object olinkinfos, object ojointinfos, const std::string& u
     _ParseLinkInfos(olinkinfos, vlinkinfos);
     std::vector<KinBody::JointInfoConstPtr> vjointinfos;
     _ParseJointInfos(ojointinfos, vjointinfos);
+    openravepy::PythonThreadSaver threadsaver;
     return _pbody->Init(vlinkinfos, vjointinfos, uri);
 }
 
 void PyKinBody::SetLinkGeometriesFromGroup(const std::string& geomname, const bool propagateGroupNameToSelfCollisionChecker)
 {
+    openravepy::PythonThreadSaver threadsaver;
     _pbody->SetLinkGeometriesFromGroup(geomname, propagateGroupNameToSelfCollisionChecker);
 }
 
@@ -2814,6 +2840,7 @@ void PyKinBody::SetLinkGroupGeometries(const std::string& geomname, object olink
             geometries[j] = pygeom->GetGeometryInfo();
         }
     }
+    openravepy::PythonThreadSaver threadsaver;
     _pbody->SetLinkGroupGeometries(geomname, linkgeometries);
 }