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serialize functions for Eigen::SparseVector

release/4.3a0
Varun Agrawal 2025-01-03 13:09:25 -05:00
parent 73f98d8cf3
commit 0302075280
1 changed files with 40 additions and 0 deletions
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40
gtsam/base/MatrixSerialization.h
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@ -24,6 +24,7 @@
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
#include <Eigen/Sparse>
#include <boost/serialization/array.hpp> #include <boost/serialization/array.hpp>
#include <boost/serialization/nvp.hpp> #include <boost/serialization/nvp.hpp>
#include <boost/serialization/split_free.hpp> #include <boost/serialization/split_free.hpp>
@ -87,6 +88,45 @@ void serialize(Archive& ar, gtsam::Matrix& m, const unsigned int version) {
split_free(ar, m, version); split_free(ar, m, version);
} }
/******************************************************************************/
/// Customized functions for serializing Eigen::SparseVector
template <class Archive, typename _Scalar, int _Options, typename _Index>
void save(Archive& ar, const Eigen::SparseVector<_Scalar, _Options, _Index>& m,
const unsigned int /*version*/) {
_Index size = m.size();
std::vector<std::pair<Eigen::Index, _Scalar>> data;
for (typename Eigen::SparseVector<_Scalar, _Options, _Index>::InnerIterator
it(m);
it; ++it)
data.push_back({it.index(), it.value()});
ar << BOOST_SERIALIZATION_NVP(size);
ar << BOOST_SERIALIZATION_NVP(data);
}
template <class Archive, typename _Scalar, int _Options, typename _Index>
void load(Archive& ar, Eigen::SparseVector<_Scalar, _Options, _Index>& m,
const unsigned int /*version*/) {
_Index size;
ar >> BOOST_SERIALIZATION_NVP(size);
m.resize(size);
std::vector<std::pair<Eigen::Index, _Scalar>> data;
ar >> BOOST_SERIALIZATION_NVP(data);
for (auto&& d : data) {
m.coeffRef(d.first) = d.second;
}
}
template <class Archive, typename _Scalar, int _Options, typename _Index>
void serialize(Archive& ar, Eigen::SparseVector<_Scalar, _Options, _Index>& m,
const unsigned int version) {
split_free(ar, m, version);
}
/******************************************************************************/
} // namespace serialization } // namespace serialization
} // namespace boost } // namespace boost
#endif #endif