correct PinholeCamera serialization problem. Add detailed comments for serialization in Value.h
Duy-Nguyen Ta
parent
d584cf8500
commit
563e8fe77c
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@ -143,15 +143,31 @@ namespace gtsam {
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virtual ~Value() {}
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private:
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/** Serialization function
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* All DERIVED classes derived from Value must put the following line in their serialization function:
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/** Empty serialization function.
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*
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* There are two important notes for successfully serializing derived objects in Values:
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* (Those derived objects are stored as pointer to this abstract base class Value)
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*
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* 1. All DERIVED classes derived from Value must put the following line in their serialization function:
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* ar & boost::serialization::make_nvp("DERIVED", boost::serialization::base_object<Value>(*this));
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* Alternatively, if the derived class is template-based, for example PinholeCamera<Calibration>,
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* it can put the following code in its serialization function
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* ar & boost::serialization::void_cast_register<PinholeCamera<Calibration>, Value>(
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* static_cast<PinholeCamera<Calibration> *>(NULL),
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* static_cast<Value *>(NULL));
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* See more: http://www.boost.org/doc/libs/1_45_0/libs/serialization/doc/serialization.html#runtimecasting
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* or, alternatively
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* ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Value);
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* See: http://www.boost.org/doc/libs/release/libs/serialization/doc/serialization.html#runtimecasting
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*
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* 2. The source module that includes archive class headers to serialize objects of derived classes
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* (boost/archive/text_oarchive.h, for example) must *export* all derived classes, using either
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* BOOST_CLASS_EXPORT or BOOST_CLASS_EXPORT_GUID macros:
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*
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* BOOST_CLASS_EXPORT(DERIVED_CLASS_1)
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* BOOST_CLASS_EXPORT_GUID(DERIVED_CLASS_2, "DERIVED_CLASS_2_ID_STRING")
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*
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* See: http://www.boost.org/doc/libs/release/libs/serialization/doc/serialization.html#derivedpointers
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* http://www.boost.org/doc/libs/release/libs/serialization/doc/serialization.html#export
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* http://www.boost.org/doc/libs/release/libs/serialization/doc/serialization.html#instantiation\
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* http://www.boost.org/doc/libs/release/libs/serialization/doc/special.html#export
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* http://www.boost.org/doc/libs/release/libs/serialization/doc/traits.html#export
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* The last two links explain why this export line has to be in the same source module thaat includes
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* any of the archive class headers.
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* */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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@ -20,6 +20,7 @@
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#include <cmath>
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#include <boost/optional.hpp>
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#include <boost/serialization/nvp.hpp>
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#include <gtsam/base/DerivedValue.h>
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#include <gtsam/base/Vector.h>
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#include <gtsam/base/Matrix.h>
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@ -279,9 +280,7 @@ private:
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version) {
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ar & boost::serialization::void_cast_register<PinholeCamera<Calibration>, Value>(
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static_cast<PinholeCamera<Calibration> *>(NULL),
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static_cast<Value *>(NULL));
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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Value);
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ar & BOOST_SERIALIZATION_NVP(pose_);
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ar & BOOST_SERIALIZATION_NVP(k_);
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}
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@ -165,6 +165,7 @@ bool equalsDereferencedXML(const T& input = T()) {
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST (Serialization, matrix_vector) {
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EXPECT(equality<Vector>(Vector_(4, 1.0, 2.0, 3.0, 4.0)));
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@ -174,6 +175,24 @@ TEST (Serialization, matrix_vector) {
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EXPECT(equalityXML<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0)));
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}
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/* ************************************************************************* */
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// Export all classes derived from Value
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BOOST_CLASS_EXPORT(gtsam::Cal3_S2)
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BOOST_CLASS_EXPORT(gtsam::Cal3_S2Stereo)
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BOOST_CLASS_EXPORT(gtsam::Cal3Bundler)
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BOOST_CLASS_EXPORT(gtsam::CalibratedCamera)
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BOOST_CLASS_EXPORT(gtsam::Point2)
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BOOST_CLASS_EXPORT(gtsam::Point3)
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BOOST_CLASS_EXPORT(gtsam::Pose2)
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BOOST_CLASS_EXPORT(gtsam::Pose3)
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BOOST_CLASS_EXPORT(gtsam::Rot2)
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BOOST_CLASS_EXPORT(gtsam::Rot3)
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BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3_S2>)
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BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3DS2>)
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BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3Bundler>)
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BOOST_CLASS_EXPORT(gtsam::StereoPoint2)
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/* ************************************************************************* */
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Point3 pt3(1.0, 2.0, 3.0);
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Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
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Pose3 pose3(rt3, pt3);
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@ -189,7 +208,6 @@ PinholeCamera<Cal3_S2> cam1(pose3, cal1);
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StereoCamera cam2(pose3, cal4ptr);
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StereoPoint2 spt(1.0, 2.0, 3.0);
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/* ************************************************************************* */
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TEST (Serialization, text_geometry) {
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EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0)));
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@ -232,6 +250,25 @@ TEST (Serialization, xml_geometry) {
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EXPECT(equalsXML(spt));
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}
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/* ************************************************************************* */
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typedef PinholeCamera<Cal3_S2> PinholeCal3S2;
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typedef PinholeCamera<Cal3DS2> PinholeCal3DS2;
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typedef PinholeCamera<Cal3Bundler> PinholeCal3Bundler;
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typedef TypedSymbol<Cal3_S2,'a'> PinholeCal3S2Key;
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typedef TypedSymbol<Cal3DS2,'s'> PinholeCal3DS2Key;
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typedef TypedSymbol<Cal3Bundler,'d'> PinholeCal3BundlerKey;
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TEST (Serialization, TemplatedValues) {
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Values values;
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values.insert(PinholeCal3S2Key(0), PinholeCal3S2(pose3, cal1));
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values.insert(PinholeCal3DS2Key(5), PinholeCal3DS2(pose3, cal2));
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values.insert(PinholeCal3BundlerKey(47), PinholeCal3Bundler(pose3, cal3));
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values.insert(PinholeCal3S2Key(5), PinholeCal3S2(pose3, cal1));
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EXPECT(equalsObj(values));
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EXPECT(equalsXML(values));
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}
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/* ************************************************************************* */
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// Export Noisemodels
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BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
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@ -437,13 +474,10 @@ TEST (Serialization, gaussianISAM) {
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/* ************************************************************************* */
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/* Create GUIDs for factors in simulated2D */
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BOOST_CLASS_EXPORT_GUID(simulated2D::Prior, "gtsam::simulated2D::Prior" );
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BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry, "gtsam::simulated2D::Odometry" );
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BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement");
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BOOST_CLASS_EXPORT(gtsam::Point2)
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BOOST_CLASS_EXPORT(gtsam::Point3)
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BOOST_CLASS_EXPORT(gtsam::Pose2)
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BOOST_CLASS_EXPORT(gtsam::Pose3)
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BOOST_CLASS_EXPORT_GUID(simulated2D::Prior, "gtsam::simulated2D::Prior" )
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BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry, "gtsam::simulated2D::Odometry" )
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BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement")
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/* ************************************************************************* */
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TEST (Serialization, smallExample) {
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using namespace example;
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