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correct PinholeCamera serialization problem. Add detailed comments for serialization in Value.h

release/4.3a0
Duy-Nguyen Ta 2012-02-03 21:34:07 +00:00
parent d584cf8500
commit 563e8fe77c
3 changed files with 69 additions and 20 deletions
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34
gtsam/base/Value.h
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@ -143,15 +143,31 @@ namespace gtsam {
virtual ~Value() {} virtual ~Value() {}
private: private:
/** Serialization function /** Empty serialization function.
* All DERIVED classes derived from Value must put the following line in their serialization function: *
* ar & boost::serialization::make_nvp("DERIVED", boost::serialization::base_object<Value>(*this)); * There are two important notes for successfully serializing derived objects in Values:
* Alternatively, if the derived class is template-based, for example PinholeCamera<Calibration>, * (Those derived objects are stored as pointer to this abstract base class Value)
* it can put the following code in its serialization function *
* ar & boost::serialization::void_cast_register<PinholeCamera<Calibration>, Value>( * 1. All DERIVED classes derived from Value must put the following line in their serialization function:
* static_cast<PinholeCamera<Calibration> *>(NULL), * ar & boost::serialization::make_nvp("DERIVED", boost::serialization::base_object<Value>(*this));
* static_cast<Value *>(NULL)); * or, alternatively
* See more: http://www.boost.org/doc/libs/1_45_0/libs/serialization/doc/serialization.html#runtimecasting * ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Value);
* See: http://www.boost.org/doc/libs/release/libs/serialization/doc/serialization.html#runtimecasting
*
* 2. The source module that includes archive class headers to serialize objects of derived classes
* (boost/archive/text_oarchive.h, for example) must *export* all derived classes, using either
* BOOST_CLASS_EXPORT or BOOST_CLASS_EXPORT_GUID macros:
*
* BOOST_CLASS_EXPORT(DERIVED_CLASS_1)
* BOOST_CLASS_EXPORT_GUID(DERIVED_CLASS_2, "DERIVED_CLASS_2_ID_STRING")
*
* See: http://www.boost.org/doc/libs/release/libs/serialization/doc/serialization.html#derivedpointers
* http://www.boost.org/doc/libs/release/libs/serialization/doc/serialization.html#export
* http://www.boost.org/doc/libs/release/libs/serialization/doc/serialization.html#instantiation\
* http://www.boost.org/doc/libs/release/libs/serialization/doc/special.html#export
* http://www.boost.org/doc/libs/release/libs/serialization/doc/traits.html#export
* The last two links explain why this export line has to be in the same source module thaat includes
* any of the archive class headers.
* */ * */
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>

5
gtsam/geometry/PinholeCamera.h
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@ -20,6 +20,7 @@
#include <cmath> #include <cmath>
#include <boost/optional.hpp> #include <boost/optional.hpp>
#include <boost/serialization/nvp.hpp>
#include <gtsam/base/DerivedValue.h> #include <gtsam/base/DerivedValue.h>
#include <gtsam/base/Vector.h> #include <gtsam/base/Vector.h>
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
@ -279,9 +280,7 @@ private:
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::void_cast_register<PinholeCamera<Calibration>, Value>( ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Value);
static_cast<PinholeCamera<Calibration> *>(NULL),
static_cast<Value *>(NULL));
ar & BOOST_SERIALIZATION_NVP(pose_); ar & BOOST_SERIALIZATION_NVP(pose_);
ar & BOOST_SERIALIZATION_NVP(k_); ar & BOOST_SERIALIZATION_NVP(k_);
} }

50
tests/testSerialization.cpp
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@ -165,6 +165,7 @@ bool equalsDereferencedXML(const T& input = T()) {
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, matrix_vector) { TEST (Serialization, matrix_vector) {
EXPECT(equality<Vector>(Vector_(4, 1.0, 2.0, 3.0, 4.0))); EXPECT(equality<Vector>(Vector_(4, 1.0, 2.0, 3.0, 4.0)));
@ -174,6 +175,24 @@ TEST (Serialization, matrix_vector) {
EXPECT(equalityXML<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0))); EXPECT(equalityXML<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0)));
} }
/* ************************************************************************* */
// Export all classes derived from Value
BOOST_CLASS_EXPORT(gtsam::Cal3_S2)
BOOST_CLASS_EXPORT(gtsam::Cal3_S2Stereo)
BOOST_CLASS_EXPORT(gtsam::Cal3Bundler)
BOOST_CLASS_EXPORT(gtsam::CalibratedCamera)
BOOST_CLASS_EXPORT(gtsam::Point2)
BOOST_CLASS_EXPORT(gtsam::Point3)
BOOST_CLASS_EXPORT(gtsam::Pose2)
BOOST_CLASS_EXPORT(gtsam::Pose3)
BOOST_CLASS_EXPORT(gtsam::Rot2)
BOOST_CLASS_EXPORT(gtsam::Rot3)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3_S2>)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3DS2>)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3Bundler>)
BOOST_CLASS_EXPORT(gtsam::StereoPoint2)
/* ************************************************************************* */
Point3 pt3(1.0, 2.0, 3.0); Point3 pt3(1.0, 2.0, 3.0);
Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
Pose3 pose3(rt3, pt3); Pose3 pose3(rt3, pt3);
@ -189,7 +208,6 @@ PinholeCamera<Cal3_S2> cam1(pose3, cal1);
StereoCamera cam2(pose3, cal4ptr); StereoCamera cam2(pose3, cal4ptr);
StereoPoint2 spt(1.0, 2.0, 3.0); StereoPoint2 spt(1.0, 2.0, 3.0);
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, text_geometry) { TEST (Serialization, text_geometry) {
EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0))); EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0)));
@ -232,6 +250,25 @@ TEST (Serialization, xml_geometry) {
EXPECT(equalsXML(spt)); EXPECT(equalsXML(spt));
} }
/* ************************************************************************* */
typedef PinholeCamera<Cal3_S2> PinholeCal3S2;
typedef PinholeCamera<Cal3DS2> PinholeCal3DS2;
typedef PinholeCamera<Cal3Bundler> PinholeCal3Bundler;
typedef TypedSymbol<Cal3_S2,'a'> PinholeCal3S2Key;
typedef TypedSymbol<Cal3DS2,'s'> PinholeCal3DS2Key;
typedef TypedSymbol<Cal3Bundler,'d'> PinholeCal3BundlerKey;
TEST (Serialization, TemplatedValues) {
Values values;
values.insert(PinholeCal3S2Key(0), PinholeCal3S2(pose3, cal1));
values.insert(PinholeCal3DS2Key(5), PinholeCal3DS2(pose3, cal2));
values.insert(PinholeCal3BundlerKey(47), PinholeCal3Bundler(pose3, cal3));
values.insert(PinholeCal3S2Key(5), PinholeCal3S2(pose3, cal1));
EXPECT(equalsObj(values));
EXPECT(equalsXML(values));
}
/* ************************************************************************* */ /* ************************************************************************* */
// Export Noisemodels // Export Noisemodels
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
@ -437,13 +474,10 @@ TEST (Serialization, gaussianISAM) {
/* ************************************************************************* */ /* ************************************************************************* */
/* Create GUIDs for factors in simulated2D */ /* Create GUIDs for factors in simulated2D */
BOOST_CLASS_EXPORT_GUID(simulated2D::Prior, "gtsam::simulated2D::Prior" ); BOOST_CLASS_EXPORT_GUID(simulated2D::Prior, "gtsam::simulated2D::Prior" )
BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry, "gtsam::simulated2D::Odometry" ); BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry, "gtsam::simulated2D::Odometry" )
BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement"); BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement")
BOOST_CLASS_EXPORT(gtsam::Point2)
BOOST_CLASS_EXPORT(gtsam::Point3)
BOOST_CLASS_EXPORT(gtsam::Pose2)
BOOST_CLASS_EXPORT(gtsam::Pose3)
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, smallExample) { TEST (Serialization, smallExample) {
using namespace example; using namespace example;