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Fixed serialization for LieVector and LieMatrix

release/4.3a0
Stephen Williams 2012-07-24 14:50:01 +00:00
parent b63201b20d
commit 592fa95d66
3 changed files with 46 additions and 20 deletions
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14
gtsam/base/LieMatrix.h
View File

@ -22,6 +22,7 @@
#include <gtsam/base/Lie.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/DerivedValue.h>
#include <boost/serialization/nvp.hpp>
namespace gtsam {
@ -135,5 +136,18 @@ struct LieMatrix : public Matrix, public DerivedValue<LieMatrix> {
static inline Vector Logmap(const LieMatrix& p) {
return Eigen::Map<const Vector>(&p(0,0), p.dim()); }
private:
// Serialization function
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("LieMatrix",
boost::serialization::base_object<Value>(*this));
ar & boost::serialization::make_nvp("Matrix",
boost::serialization::base_object<Matrix>(*this));
}
};
} // \namespace gtsam

12
gtsam/base/LieVector.h
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@ -119,5 +119,17 @@ struct LieVector : public Vector, public DerivedValue<LieVector> {
/** Logmap around identity - just returns with default cast back */
static inline Vector Logmap(const LieVector& p) { return p; }
private:
// Serialization function
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("LieVector",
boost::serialization::base_object<Value>(*this));
ar & boost::serialization::make_nvp("Vector",
boost::serialization::base_object<Vector>(*this));
}
};
} // \namespace gtsam

40
tests/testSerializationSLAM.cpp
View File

@ -269,8 +269,8 @@ TEST (Serialization, factors) {
Symbol b01('b',1), b02('b',2), b03('b',3), b04('b',4), b05('b',5), b06('b',6), b07('b',7), b08('b',8), b09('b',9), b10('b',10), b11('b',11), b12('b',12), b13('b',13);
Values values;
// values.insert(a01, lieVector);
// values.insert(a02, lieMatrix);
values.insert(a01, lieVector);
values.insert(a02, lieMatrix);
values.insert(a03, point2);
values.insert(a04, stereoPoint2);
values.insert(a05, point3);
@ -352,8 +352,8 @@ TEST (Serialization, factors) {
NonlinearFactorGraph graph;
// graph.add(priorFactorLieVector);
// graph.add(priorFactorLieMatrix);
graph.add(priorFactorLieVector);
graph.add(priorFactorLieMatrix);
graph.add(priorFactorPoint2);
graph.add(priorFactorStereoPoint2);
graph.add(priorFactorPoint3);
@ -366,8 +366,8 @@ TEST (Serialization, factors) {
graph.add(priorFactorCalibratedCamera);
graph.add(priorFactorSimpleCamera);
// graph.add(betweenFactorLieVector);
// graph.add(betweenFactorLieMatrix);
graph.add(betweenFactorLieVector);
graph.add(betweenFactorLieMatrix);
graph.add(betweenFactorPoint2);
graph.add(betweenFactorPoint3);
graph.add(betweenFactorRot2);
@ -375,8 +375,8 @@ TEST (Serialization, factors) {
graph.add(betweenFactorPose2);
graph.add(betweenFactorPose3);
// graph.add(nonlinearEqualityLieVector);
// graph.add(nonlinearEqualityLieMatrix);
graph.add(nonlinearEqualityLieVector);
graph.add(nonlinearEqualityLieMatrix);
graph.add(nonlinearEqualityPoint2);
graph.add(nonlinearEqualityStereoPoint2);
graph.add(nonlinearEqualityPoint3);
@ -412,8 +412,8 @@ TEST (Serialization, factors) {
EXPECT(equalsObj<Values>(values));
EXPECT(equalsObj<NonlinearFactorGraph>(graph));
// EXPECT(equalsObj<PriorFactorLieVector>(priorFactorLieVector));
// EXPECT(equalsObj<PriorFactorLieMatrix>(priorFactorLieMatrix));
EXPECT(equalsObj<PriorFactorLieVector>(priorFactorLieVector));
EXPECT(equalsObj<PriorFactorLieMatrix>(priorFactorLieMatrix));
EXPECT(equalsObj<PriorFactorPoint2>(priorFactorPoint2));
EXPECT(equalsObj<PriorFactorStereoPoint2>(priorFactorStereoPoint2));
EXPECT(equalsObj<PriorFactorPoint3>(priorFactorPoint3));
@ -426,8 +426,8 @@ TEST (Serialization, factors) {
EXPECT(equalsObj<PriorFactorCalibratedCamera>(priorFactorCalibratedCamera));
EXPECT(equalsObj<PriorFactorSimpleCamera>(priorFactorSimpleCamera));
// EXPECT(equalsObj<BetweenFactorLieVector>(betweenFactorLieVector));
// EXPECT(equalsObj<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
EXPECT(equalsObj<BetweenFactorLieVector>(betweenFactorLieVector));
EXPECT(equalsObj<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
EXPECT(equalsObj<BetweenFactorPoint2>(betweenFactorPoint2));
EXPECT(equalsObj<BetweenFactorPoint3>(betweenFactorPoint3));
EXPECT(equalsObj<BetweenFactorRot2>(betweenFactorRot2));
@ -435,8 +435,8 @@ TEST (Serialization, factors) {
EXPECT(equalsObj<BetweenFactorPose2>(betweenFactorPose2));
EXPECT(equalsObj<BetweenFactorPose3>(betweenFactorPose3));
// EXPECT(equalsObj<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
// EXPECT(equalsObj<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
EXPECT(equalsObj<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
EXPECT(equalsObj<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
EXPECT(equalsObj<NonlinearEqualityPoint2>(nonlinearEqualityPoint2));
EXPECT(equalsObj<NonlinearEqualityStereoPoint2>(nonlinearEqualityStereoPoint2));
EXPECT(equalsObj<NonlinearEqualityPoint3>(nonlinearEqualityPoint3));
@ -472,8 +472,8 @@ TEST (Serialization, factors) {
EXPECT(equalsXML<Values>(values));
EXPECT(equalsXML<NonlinearFactorGraph>(graph));
// EXPECT(equalsXML<PriorFactorLieVector>(priorFactorLieVector));
// EXPECT(equalsXML<PriorFactorLieMatrix>(priorFactorLieMatrix));
EXPECT(equalsXML<PriorFactorLieVector>(priorFactorLieVector));
EXPECT(equalsXML<PriorFactorLieMatrix>(priorFactorLieMatrix));
EXPECT(equalsXML<PriorFactorPoint2>(priorFactorPoint2));
EXPECT(equalsXML<PriorFactorStereoPoint2>(priorFactorStereoPoint2));
EXPECT(equalsXML<PriorFactorPoint3>(priorFactorPoint3));
@ -486,8 +486,8 @@ TEST (Serialization, factors) {
EXPECT(equalsXML<PriorFactorCalibratedCamera>(priorFactorCalibratedCamera));
EXPECT(equalsXML<PriorFactorSimpleCamera>(priorFactorSimpleCamera));
// EXPECT(equalsXML<BetweenFactorLieVector>(betweenFactorLieVector));
// EXPECT(equalsXML<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
EXPECT(equalsXML<BetweenFactorLieVector>(betweenFactorLieVector));
EXPECT(equalsXML<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
EXPECT(equalsXML<BetweenFactorPoint2>(betweenFactorPoint2));
EXPECT(equalsXML<BetweenFactorPoint3>(betweenFactorPoint3));
EXPECT(equalsXML<BetweenFactorRot2>(betweenFactorRot2));
@ -495,8 +495,8 @@ TEST (Serialization, factors) {
EXPECT(equalsXML<BetweenFactorPose2>(betweenFactorPose2));
EXPECT(equalsXML<BetweenFactorPose3>(betweenFactorPose3));
// EXPECT(equalsXML<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
// EXPECT(equalsXML<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
EXPECT(equalsXML<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
EXPECT(equalsXML<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
EXPECT(equalsXML<NonlinearEqualityPoint2>(nonlinearEqualityPoint2));
EXPECT(equalsXML<NonlinearEqualityStereoPoint2>(nonlinearEqualityStereoPoint2));
EXPECT(equalsXML<NonlinearEqualityPoint3>(nonlinearEqualityPoint3));