Removed extraneous headers that were causing problems related to boost serialization and added testSerialization with conditional compiling (--enable-serialization). Currently, the test is all commented out, and it should not affect those not using the flag.

config.h.in

@@ -1,8 +1,5 @@
 /* config.h.in.  Generated from configure.ac by autoheader.  */
 
-/* boost serialization flag */
-#undef HAVE_BOOST_SERIALIZATION
-
 /* Define to 1 if you have the <dlfcn.h> header file. */
 #undef HAVE_DLFCN_H
 

configure.ac

@@ -98,7 +98,7 @@ AC_ARG_ENABLE([ldl],
      [case "${enableval}" in
        yes) ldl=true ;;
        no)  ldl=false ;;
-       *) AC_MSG_ERROR([bad value ${enableval} for --enable-debug]) ;;
+       *) AC_MSG_ERROR([bad value ${enableval} for --enable-ldl]) ;;
      esac],[ldl=false])
 
 AM_CONDITIONAL([USE_LDL], [test x$ldl = xtrue])
@@ -114,6 +114,17 @@ AC_ARG_ENABLE([profiling],
 
 AM_CONDITIONAL([USE_PROFILING], [test x$profiling = xtrue])
 
+# enable serialization in serialization test
+AC_ARG_ENABLE([serialization],
+     [  --enable-serialization    Enable serialization with boost serialization],
+     [case "${enableval}" in
+       yes) serialization=true ;;
+       no)  serialization=false ;;
+       *) AC_MSG_ERROR([bad value ${enableval} for --enable-serialization]) ;;
+     esac],[serialization=false])
+
+AM_CONDITIONAL([ENABLE_SERIALIZATION], [test x$serialization = xtrue])
+
 # Checks for programs.
 AC_PROG_CXX
 AC_PROG_CC
@@ -160,13 +171,13 @@ AC_ARG_WITH([boost],
 AC_SUBST([boost])
 
 # ask for boost serialization
-AC_ARG_WITH([boost_serialization],
+#AC_ARG_WITH([boost_serialization],
-	     [AS_HELP_STRING([--with-boost-serialization],
+#	     [AS_HELP_STRING([--with-boost-serialization],
-			      [(optional) use the Serialization library from boost - specify the library linking command with the full name of the library
+#			      [(optional) use the Serialization library from boost - specify the library linking command with the full name of the library
-			        e.g. --with-boost-serialization=-lboost_serialization-gcc-mt-d-1_33_1])],
+#			        e.g. --with-boost-serialization=-lboost_serialization-gcc-mt-d-1_33_1])],
-	     [AC_DEFINE([HAVE_BOOST_SERIALIZATION], ["<boost/foreach.hpp>"], [boost serialization flag]) 
+#	     [AC_DEFINE([HAVE_BOOST_SERIALIZATION], ["<boost/foreach.hpp>"], [boost serialization flag]) 
-                
+#                
-		 boost_serialization=$withval ])
+#AC_SUBST([boost_serialization])
-AC_SUBST([boost_serialization])
+
 	
 AC_OUTPUT

inference/BayesNet.h

@@ -10,8 +10,8 @@
 
 #include <list>
 #include <boost/shared_ptr.hpp>
-#include <boost/serialization/list.hpp>
+//#include <boost/serialization/list.hpp>
-#include <boost/serialization/shared_ptr.hpp>
+//#include <boost/serialization/shared_ptr.hpp>
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/inference/Key.h>

inference/BayesTree.h

@@ -10,8 +10,8 @@
 
 #include <list>
 #include <vector>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
-#include <boost/serialization/list.hpp>
+//#include <boost/serialization/list.hpp>
 #include <stdexcept>
 
 #include <gtsam/base/Testable.h>

inference/Conditional.h

@@ -9,9 +9,9 @@
 #pragma once
 
 #include <boost/utility.hpp> // for noncopyable
-#include <boost/serialization/string.hpp>
+//#include <boost/serialization/string.hpp>
-#include <boost/serialization/access.hpp>
+//#include <boost/serialization/access.hpp>
-#include <boost/serialization/nvp.hpp>
+//#include <boost/serialization/nvp.hpp>
 #include <gtsam/base/Testable.h>
 #include <gtsam/inference/Key.h>
 

inference/FactorGraph.h

@@ -11,10 +11,10 @@
 #pragma once
 
 #include <boost/shared_ptr.hpp>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
-#include <boost/serialization/list.hpp>
+//#include <boost/serialization/list.hpp>
-#include <boost/serialization/vector.hpp>
+//#include <boost/serialization/vector.hpp>
-#include <boost/serialization/shared_ptr.hpp>
+//#include <boost/serialization/shared_ptr.hpp>
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/inference/BayesNet.h>

inference/ISAM.h

@@ -11,8 +11,8 @@
 #include <map>
 #include <list>
 #include <vector>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
-#include <boost/serialization/list.hpp>
+//#include <boost/serialization/list.hpp>
 #include <stdexcept>
 
 #include <gtsam/base/Testable.h>

inference/ISAM2.h

@@ -11,8 +11,8 @@
 #include <map>
 #include <list>
 #include <vector>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
-#include <boost/serialization/list.hpp>
+//#include <boost/serialization/list.hpp>
 #include <stdexcept>
 
 #include <gtsam/base/Testable.h>

inference/Key.h

@@ -11,7 +11,7 @@
 #include <list>
 #include <iostream>
 #include <boost/format.hpp>
-#include <boost/serialization/serialization.hpp>
+//#include <boost/serialization/serialization.hpp>
 #include <boost/serialization/nvp.hpp>
 #ifdef GTSAM_MAGIC_KEY
 #include <boost/lexical_cast.hpp>
@@ -273,7 +273,9 @@ namespace gtsam {
 		friend class boost::serialization::access;
 		template<class Archive>
 		void serialize(Archive & ar, const unsigned int version) {
-			ar & BOOST_SERIALIZATION_NVP(this->j_);
+			typedef TypedSymbol<T,C> Base;
+			ar & boost::serialization::make_nvp("TypedLabeledSymbol",
+					boost::serialization::base_object<Base>(*this));
 			ar & BOOST_SERIALIZATION_NVP(label_);
 		}
 	};

inference/SymbolicBayesNet.h

@@ -9,8 +9,8 @@
 #pragma once
 
 #include <list>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
-#include <boost/serialization/list.hpp>
+//#include <boost/serialization/list.hpp>
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/inference/BayesNet.h>

inference/SymbolicConditional.h

@@ -13,7 +13,8 @@
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 #include <boost/foreach.hpp> // TODO: make cpp file
-#include <boost/serialization/list.hpp>
+//#include <boost/serialization/list.hpp>
+#include <boost/serialization/nvp.hpp>
 #include <gtsam/inference/Conditional.h>
 #include <gtsam/inference/Key.h>
 

linear/GaussianConditional.h

@@ -12,8 +12,8 @@
 #include <list>
 #include <boost/utility.hpp>
 #include <boost/shared_ptr.hpp>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
-#include <boost/serialization/shared_ptr.hpp>
+//#include <boost/serialization/shared_ptr.hpp>
 
 #include <gtsam/inference/Conditional.h>
 #include <gtsam/linear/VectorConfig.h>

linear/GaussianFactor.h

@@ -11,7 +11,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <boost/tuple/tuple.hpp>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
 #include <boost/foreach.hpp>
 #include <list>
 #include <set>

linear/VectorBTree.h

@@ -9,7 +9,7 @@
 #pragma once
 
 #include <map>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
 #include <boost/numeric/ublas/storage.hpp>
 
 #include <gtsam/base/Testable.h>

linear/VectorMap.h

@@ -10,7 +10,7 @@
 #pragma once
 
 #include <map>
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/Vector.h>

nonlinear/LieConfig.h

@@ -18,7 +18,7 @@
 #include <map>
 #include <set>
 
-#include <boost/serialization/map.hpp>
+//#include <boost/serialization/map.hpp>
 
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/Testable.h>

tests/Makefile.am

@@ -17,6 +17,11 @@ check_PROGRAMS += testSymbolicBayesNet testSymbolicFactorGraph testTupleConfig
 check_PROGRAMS += testNonlinearEqualityConstraint testBoundingConstraint 
 check_PROGRAMS += testTransformConstraint testLinearApproxFactor
 
+# only if serialization is available
+if ENABLE_SERIALIZATION
+check_PROGRAMS += testSerialization
+endif
+
 # experimental
 #check_PROGRAMS += testFusionTupleConfig # Doesn't work on Macs
 
@@ -32,7 +37,13 @@ noinst_PROGRAMS = timeGaussianFactorGraph timeFactorOverhead
 #----------------------------------------------------------------------------------------------------
 TESTS = $(check_PROGRAMS)
 AM_CPPFLAGS = -I$(boost) -I$(BORG_SRCROOT)
-AM_LDFLAGS = $(BOOST_LDFLAGS) $(boost_serialization) 
+AM_LDFLAGS = $(BOOST_LDFLAGS) 
+
+# link to serialization library for test 
+if ENABLE_SERIALIZATION
+AM_LDFLAGS += -lboost_serialization
+endif
+
 LDADD = ../libgtsam.la ../CppUnitLite/libCppUnitLite.a  
 AM_DEFAULT_SOURCE_EXT = .cpp
 

tests/testSerialization.cpp

@@ -0,0 +1,223 @@
+/*
+ * @brief Unit tests for serialization of library classes
+ * @author Frank Dellaert
+ * @author Alex Cunningham
+ */
+
+/* ************************************************************************* */
+// Serialization testing code.
+/* ************************************************************************* */
+
+#include <fstream>
+#include <sstream>
+#include <string>
+
+// includes for standard serialization types
+//#include <boost/serialization/vector.hpp>
+//#include <boost/serialization/map.hpp>
+//#include <boost/serialization/list.hpp>
+
+#include <boost/archive/text_oarchive.hpp>
+#include <boost/archive/text_iarchive.hpp>
+#include <boost/archive/xml_iarchive.hpp>
+#include <boost/archive/xml_oarchive.hpp>
+
+// whether to print the serialized text to stdout
+const bool verbose = false;
+
+// Templated round-trip serialization
+template<class T>
+void roundtrip(const T& input, T& output) {
+
+	// Serialize
+	std::ostringstream out_archive_stream;
+	boost::archive::text_oarchive out_archive(out_archive_stream);
+	out_archive << input;
+
+	// Convert to string
+	std::string serialized = out_archive_stream.str();
+	if (verbose) std::cout << serialized << std::endl << std::endl;
+
+	// De-serialize
+	std::istringstream in_archive_stream(serialized);
+	boost::archive::text_iarchive in_archive(in_archive_stream);
+	in_archive >> output;
+}
+
+// This version requires equality operator
+template<class T>
+bool equality() {
+	T input;
+	T output;
+	roundtrip<T>(input,output);
+	return input==output;
+}
+
+template<class T>
+bool equality(const T& input) {
+	T output;
+	roundtrip<T>(input,output);
+	return input==output;
+}
+
+// This version requires equals
+template<class T>
+bool equalsEmpty() {
+	T input;
+	T output;
+	roundtrip<T>(input,output);
+	return input.equals(output);
+}
+
+template<class T>
+bool equalsObj(const T& input) {
+	T output;
+	roundtrip<T>(input,output);
+	return input.equals(output);
+}
+
+// De-referenced version for pointers
+template<class T>
+bool equalsDereferenced(const T& input) {
+	T output;
+	roundtrip<T>(input,output);
+	return input->equals(*output);
+}
+
+/* ************************************************************************* */
+// Templated round-trip serialization using XML
+template<class T>
+void roundtripXML(const T& input, T& output) {
+
+	// Serialize
+	std::ostringstream out_archive_stream;
+	boost::archive::xml_oarchive out_archive(out_archive_stream);
+	out_archive << BOOST_SERIALIZATION_NVP(input);
+
+	// Convert to string
+	std::string serialized = out_archive_stream.str();
+	if (verbose) std::cout << serialized << std::endl << std::endl;
+
+	// De-serialize
+	std::istringstream in_archive_stream(serialized);
+	boost::archive::xml_iarchive in_archive(in_archive_stream);
+	in_archive >> BOOST_SERIALIZATION_NVP(output);
+}
+
+// This version requires equality operator
+template<class T>
+bool equalityXML() {
+	T input;
+	T output;
+	roundtripXML<T>(input,output);
+	return input==output;
+}
+
+template<class T>
+bool equalityXML(const T& input) {
+	T output;
+	roundtripXML<T>(input,output);
+	return input==output;
+}
+
+// This version requires equals
+template<class T>
+bool equalsXML() {
+	T input;
+	T output;
+	roundtripXML<T>(input,output);
+	return input.equals(output);
+}
+
+template<class T>
+bool equalsXML(const T& input) {
+	T output;
+	roundtripXML<T>(input,output);
+	return input.equals(output);
+}
+
+/* ************************************************************************* */
+// Actual Tests
+/* ************************************************************************* */
+
+#include <gtsam/geometry/Point2.h>
+//#include <gtsam/geometry/Pose2.h>
+//#include <gtsam/geometry/Rot2.h>
+//#include <gtsam/geometry/Point3.h>
+//#include <gtsam/geometry/Pose3.h>
+//#include <gtsam/geometry/Rot3.h>
+//#include <gtsam/geometry/Cal3_S2.h>
+
+//#include <gtsam/linear/VectorConfig.h>
+//#include <gtsam/inference/FactorGraph-inl.h>
+//#include <gtsam/linear/GaussianConditional.h>
+//#include <gtsam/inference/SymbolicConditional.h>
+
+#include <gtsam/CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+//TEST( Point2,              equalsEmpty) { CHECK(equalsEmpty<gtsam::Point2>());}
+//TEST( VectorConfig,        equalsEmpty) { CHECK(equalsEmpty<VectorConfig>());}
+//TEST( GaussianConditional, equalsEmpty) { CHECK(equalsEmpty<GaussianConditional>());}
+
+
+
+/* ************************************************************************* */
+// Testing XML
+/* ************************************************************************* */
+//TEST( Point2,          	   equalsXML) { CHECK(equalsXML<gtsam::Point2>());}
+
+//TEST( VectorConfig,        equalsXML) { CHECK(equalsXML<VectorConfig>());}
+//TEST( Cal3_S2,             equalsXML) { CHECK(equalsXML<Cal3_S2>());}
+//TEST( GaussianConditional, equalsXML) { CHECK(equalsXML<GaussianConditional>());}
+//TEST( SymbolicConditional, equalsXML) { CHECK(equalsXML<SymbolicConditional>());}
+
+
+// The two tests below will not run, however, as CameraMarkerFactor
+// is not registered by the serialization code in FactorGraph
+//TEST( FactorGraph, equals1)
+//{
+//	FactorGraph<NonlinearFactor> graph;
+//  graph.push_back(f);
+//	CHECK(equalsObj(graph));
+//}
+//TEST( NonlinearFactorGraph, equals)
+//{
+//	NonlinearFactorGraph graph;
+//  graph.push_back(f);
+//	CHECK(equalsObj(graph));
+//}
+
+// It *does* work if we explicitly instantiate with the factor type
+//TEST( FactorGraph, equals2)
+//{
+//	FactorGraph<CameraMarkerFactor> graph;
+//  graph.push_back(f);
+//	CHECK(equalsObj(graph));
+//}
+
+// And, as we explicitly registered the three CameraMarkerFactor types in
+// the EasySLAMGraph serialize, this will also work :-))
+// see http://www.boost.org/doc/libs/1_35_0/libs/serialization/doc/serialization.html#derivedpointers
+//TEST( EasySLAMGraph, equals2)
+//{
+//	EasySLAMGraph graph = createExampleGraph();
+//	CHECK(equalsObj(graph));
+//}
+//
+//// EasySLAMConfig is no problem either:
+//TEST( EasySLAMConfig, equals2)
+//{
+//	EasySLAMConfig c = createExampleConfig();
+//	CHECK(equalsObj(c));
+//}
+
+/* ************************************************************************* */
+int main() {
+	TestResult tr;
+	return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */