Merge branch 'develop' into feature/matlab-wrap
Varun Agrawal
commit
99f351da4c
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@ -6,5 +6,11 @@ configure_file(
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"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
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IMMEDIATE @ONLY)
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add_custom_target(uninstall
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"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
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if (NOT TARGET uninstall) # avoid duplicating this target
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add_custom_target(uninstall
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"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
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else()
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add_custom_target(uninstall_gtsam
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"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
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add_dependencies(uninstall uninstall_gtsam)
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endif()
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100
gtsam/gtsam.i
100
gtsam/gtsam.i
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@ -105,6 +105,9 @@
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* virtual class MyFactor : gtsam::NoiseModelFactor {...};
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* - *DO NOT* re-define overriden function already declared in the external (forward-declared) base class
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* - This will cause an ambiguity problem in Pybind header file
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* Pickle support in Python:
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* - Add "void pickle()" to a class to enable pickling via gtwrap. In the current implementation, "void serialize()"
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* and a public constructor with no-arguments in needed for successful build.
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*/
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/**
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@ -144,6 +147,9 @@ class KeyList {
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void remove(size_t key);
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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// Actually a FastSet<Key>
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@ -169,6 +175,9 @@ class KeySet {
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bool count(size_t key) const; // returns true if value exists
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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// Actually a vector<Key>
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@ -190,6 +199,9 @@ class KeyVector {
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void push_back(size_t key) const;
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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// Actually a FastMap<Key,int>
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@ -361,6 +373,9 @@ class Point2 {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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// std::vector<gtsam::Point2>
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@ -422,6 +437,9 @@ class StereoPoint2 {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/Point3.h>
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@ -446,6 +464,9 @@ class Point3 {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/Rot2.h>
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@ -491,6 +512,9 @@ class Rot2 {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/SO3.h>
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@ -653,6 +677,9 @@ class Rot3 {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/Pose2.h>
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@ -708,6 +735,9 @@ class Pose2 {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/Pose3.h>
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@ -764,6 +794,9 @@ class Pose3 {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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// std::vector<gtsam::Pose3>
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@ -797,6 +830,15 @@ class Unit3 {
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size_t dim() const;
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gtsam::Unit3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Unit3& s) const;
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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// enabling function to compare objects
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bool equals(const gtsam::Unit3& expected, double tol) const;
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};
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#include <gtsam/geometry/EssentialMatrix.h>
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@ -856,6 +898,9 @@ class Cal3_S2 {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/Cal3DS2_Base.h>
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@ -884,6 +929,9 @@ virtual class Cal3DS2_Base {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/Cal3DS2.h>
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@ -905,6 +953,9 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/Cal3Unified.h>
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@ -931,6 +982,9 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/Cal3_S2Stereo.h>
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@ -988,6 +1042,9 @@ class Cal3Bundler {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/CalibratedCamera.h>
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@ -1018,6 +1075,9 @@ class CalibratedCamera {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/PinholeCamera.h>
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@ -1056,6 +1116,9 @@ class PinholeCamera {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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// Forward declaration of PinholeCameraCalX is defined here.
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@ -1103,6 +1166,9 @@ class StereoCamera {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/geometry/triangulation.h>
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@ -1557,6 +1623,9 @@ class VectorValues {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/linear/GaussianFactor.h>
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@ -1618,6 +1687,9 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/linear/HessianFactor.h>
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@ -1649,6 +1721,9 @@ virtual class HessianFactor : gtsam::GaussianFactor {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/linear/GaussianFactorGraph.h>
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@ -1728,6 +1803,9 @@ class GaussianFactorGraph {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/linear/GaussianConditional.h>
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@ -2035,6 +2113,9 @@ class Ordering {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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@ -2073,6 +2154,10 @@ class NonlinearFactorGraph {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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void saveGraph(const string& s) const;
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};
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@ -2130,6 +2215,9 @@ class Values {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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// New in 4.0, we have to specialize every insert/update/at to generate wrappers
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// Instead of the old:
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// void insert(size_t j, const gtsam::Value& value);
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@ -2529,6 +2617,9 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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@ -2540,6 +2631,9 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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};
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#include <gtsam/nonlinear/NonlinearEquality.h>
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@ -2776,6 +2870,9 @@ class SfmTrack {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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// enabling function to compare objects
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bool equals(const gtsam::SfmTrack& expected, double tol) const;
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};
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@ -2792,6 +2889,9 @@ class SfmData {
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// enabling serialization functionality
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void serialize() const;
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// enable pickling in python
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void pickle() const;
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// enabling function to compare objects
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bool equals(const gtsam::SfmData& expected, double tol) const;
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};
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@ -0,0 +1,46 @@
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"""
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GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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Unit tests to check pickling.
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Author: Ayush Baid
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"""
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from gtsam import Cal3Bundler, PinholeCameraCal3Bundler, Point2, Point3, Pose3, Rot3, SfmTrack, Unit3
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from gtsam.utils.test_case import GtsamTestCase
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class TestPickle(GtsamTestCase):
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"""Tests pickling on some of the classes."""
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def test_cal3Bundler_roundtrip(self):
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obj = Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70)
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_pinholeCameraCal3Bundler_roundtrip(self):
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obj = PinholeCameraCal3Bundler(
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Pose3(Rot3.RzRyRx(0, 0.1, -0.05), Point3(1, 1, 0)),
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Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70),
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)
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_rot3_roundtrip(self):
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obj = Rot3.RzRyRx(0, 0.05, 0.1)
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_pose3_roundtrip(self):
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obj = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_sfmTrack_roundtrip(self):
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obj = SfmTrack(Point3(1, 1, 0))
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obj.add_measurement(0, Point2(-1, 5))
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obj.add_measurement(1, Point2(6, 2))
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_unit3_roundtrip(self):
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obj = Unit3(Point3(1, 1, 0))
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self.assertEqualityOnPickleRoundtrip(obj)
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@ -8,6 +8,7 @@ See LICENSE for the license information
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TestCase class with GTSAM assert utils.
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Author: Frank Dellaert
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"""
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import pickle
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import unittest
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|
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@ -29,3 +30,14 @@ class GtsamTestCase(unittest.TestCase):
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if not equal:
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raise self.failureException(
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"Values are not equal:\n{}!={}".format(actual, expected))
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def assertEqualityOnPickleRoundtrip(self, obj: object, tol=1e-9) -> None:
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""" Performs a round-trip using pickle and asserts equality.
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|
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Usage:
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self.assertEqualityOnPickleRoundtrip(obj)
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Keyword Arguments:
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tol {float} -- tolerance passed to 'equals', default 1e-9
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"""
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roundTripObj = pickle.loads(pickle.dumps(obj))
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self.gtsamAssertEquals(roundTripObj, obj)
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|
|
|
|||
Loading…
Reference in New Issue