improve testing for deep copy

python/gtsam/tests/test_Serialization.py

@@ -5,11 +5,11 @@ All Rights Reserved
 
 See LICENSE for the license information
 
-KalmanFilter unit tests.
+Serialization and deep copy tests.
-Author: Frank Dellaert & Duy Nguyen Ta (Python)
+
+Author: Varun Agrawal
 """
 import unittest
-from copy import deepcopy
 
 import numpy as np
 from gtsam.symbol_shorthand import B, V, X
@@ -18,42 +18,36 @@ from gtsam.utils.test_case import GtsamTestCase
 import gtsam
 
 
-class TestSerialization(GtsamTestCase):
+class TestDeepCopy(GtsamTestCase):
-    """Tests for serialization of various GTSAM objects."""
+    """Tests for deep copy of various GTSAM objects."""
 
     def test_PreintegratedImuMeasurements(self):
         """
-        Test the serialization of `PreintegratedImuMeasurements` by performing a deepcopy.
+        Test the deep copy of `PreintegratedImuMeasurements` by performing a deepcopy.
         """
         params = gtsam.PreintegrationParams(np.asarray([0, 0, -9.81]))
         pim = gtsam.PreintegratedImuMeasurements(params)
 
-        # If serialization failed, then this will throw an error
+        self.assertDeepCopyEquality(pim)
-        pim2 = deepcopy(pim)
-        self.assertEqual(pim, pim2)
 
     def test_ImuFactor(self):
         """
-        Test the serialization of `ImuFactor` by performing a deepcopy.
+        Test the deep copy of `ImuFactor` by performing a deepcopy.
         """
         params = gtsam.PreintegrationParams(np.asarray([0, 0, -9.81]))
         pim = gtsam.PreintegratedImuMeasurements(params)
-        imu_odom = gtsam.ImuFactor(X(0), V(0), X(1), V(1), B(0), pim)
+        imu_factor = gtsam.ImuFactor(X(0), V(0), X(1), V(1), B(0), pim)
 
-        # If serialization failed, then this will throw an error
+        self.assertDeepCopyEquality(imu_factor)
-        imu_odom2 = deepcopy(imu_odom)
-        self.assertEqual(imu_odom, imu_odom2)
 
     def test_PreintegratedCombinedMeasurements(self):
         """
-        Test the serialization of `PreintegratedCombinedMeasurements` by performing a deepcopy.
+        Test the deep copy of `PreintegratedCombinedMeasurements` by performing a deepcopy.
         """
         params = gtsam.PreintegrationCombinedParams(np.asarray([0, 0, -9.81]))
         pim = gtsam.PreintegratedCombinedMeasurements(params)
 
-        # If serialization failed, then this will throw an error
+        self.assertDeepCopyEquality(pim)
-        pim2 = deepcopy(pim)
-        self.assertEqual(pim, pim2)
 
 
 if __name__ == "__main__":

python/gtsam/tests/test_pickle.py

@@ -9,24 +9,26 @@ Unit tests to check pickling.
 
 Author: Ayush Baid
 """
-from gtsam import Cal3Bundler, PinholeCameraCal3Bundler, Point2, Point3, Pose3, Rot3, SfmTrack, Unit3 
-
 from gtsam.utils.test_case import GtsamTestCase
 
+from gtsam import (Cal3Bundler, PinholeCameraCal3Bundler, Point2, Point3,
+                   Pose3, Rot3, SfmTrack, Unit3)
+
+
 class TestPickle(GtsamTestCase):
     """Tests pickling on some of the classes."""
 
     def test_cal3Bundler_roundtrip(self):
         obj = Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70)
         self.assertEqualityOnPickleRoundtrip(obj)
-    
+
     def test_pinholeCameraCal3Bundler_roundtrip(self):
         obj = PinholeCameraCal3Bundler(
             Pose3(Rot3.RzRyRx(0, 0.1, -0.05), Point3(1, 1, 0)),
             Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70),
         )
         self.assertEqualityOnPickleRoundtrip(obj)
-    
+
     def test_rot3_roundtrip(self):
         obj = Rot3.RzRyRx(0, 0.05, 0.1)
         self.assertEqualityOnPickleRoundtrip(obj)

python/gtsam/utils/test_case.py

@@ -10,6 +10,7 @@ Author: Frank Dellaert
 """
 import pickle
 import unittest
+from copy import deepcopy
 
 
 class GtsamTestCase(unittest.TestCase):
@@ -28,8 +29,8 @@ class GtsamTestCase(unittest.TestCase):
         else:
             equal = actual.equals(expected, tol)
         if not equal:
-            raise self.failureException(
+            raise self.failureException("Values are not equal:\n{}!={}".format(
-                "Values are not equal:\n{}!={}".format(actual, expected))
+                actual, expected))
 
     def assertEqualityOnPickleRoundtrip(self, obj: object, tol=1e-9) -> None:
         """ Performs a round-trip using pickle and asserts equality.
@@ -41,3 +42,14 @@ class GtsamTestCase(unittest.TestCase):
         """
         roundTripObj = pickle.loads(pickle.dumps(obj))
         self.gtsamAssertEquals(roundTripObj, obj)
+
+    def assertDeepCopyEquality(self, obj):
+        """Perform assertion by checking if a
+        deep copied version of `obj` is equal to itself.
+
+        Args:
+            obj: The object to check is deep-copyable.
+        """
+        # If deep copy failed, then this will throw an error
+        obj2 = deepcopy(obj)
+        self.gtsamAssertEquals(obj, obj2)