Rearranged serialization test to use new interface, added serialize() flags to Point2 and Values. Serialzing values fails - now to add export commands
Alex Cunningham
parent
14c5f205dd
commit
b5b1eac597
30
gtsam.h
30
gtsam.h
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@ -267,6 +267,9 @@ virtual class Point2 : gtsam::Value {
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Vector vector() const;
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double dist(const gtsam::Point2& p2) const;
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double norm() const;
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// enabling serialization functionality
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void serialize() const;
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};
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virtual class StereoPoint2 : gtsam::Value {
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@ -1555,29 +1558,32 @@ class Values {
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size_t size() const;
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bool empty() const;
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void clear();
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size_t dim() const;
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void clear();
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size_t dim() const;
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void print(string s) const;
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bool equals(const gtsam::Values& other, double tol) const;
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void insert(size_t j, const gtsam::Value& value);
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void insert(const gtsam::Values& values);
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void update(size_t j, const gtsam::Value& val);
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void update(const gtsam::Values& values);
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void erase(size_t j);
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void swap(gtsam::Values& values);
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void insert(const gtsam::Values& values);
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void update(size_t j, const gtsam::Value& val);
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void update(const gtsam::Values& values);
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void erase(size_t j);
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void swap(gtsam::Values& values);
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bool exists(size_t j) const;
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gtsam::Value at(size_t j) const;
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gtsam::KeyList keys() const;
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gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const;
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gtsam::Ordering* orderingArbitrary(size_t firstVar) const;
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gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const;
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gtsam::Ordering* orderingArbitrary(size_t firstVar) const;
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gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const;
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gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const;
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void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const;
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gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const;
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gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const;
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void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const;
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// enabling serialization functionality
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void serialize() const;
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};
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// Actually a FastList<Key>
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@ -6,7 +6,7 @@
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%
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% See LICENSE for the license information
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%
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% @brief Simple robotics example using the pre-built planar SLAM domain
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% @brief Checks for serialization using basic string interface
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% @author Alex Cunningham
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% @author Frank Dellaert
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -17,7 +17,34 @@ import gtsam.*
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i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3);
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j1 = symbol('l',1); j2 = symbol('l',2);
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%% Create graph and factors
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%% Create values and verify string serialization
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pose1=Pose2(0.5, 0.0, 0.2);
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pose2=Pose2(2.3, 0.1,-0.2);
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pose3=Pose2(4.1, 0.1, 0.1);
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landmark1=Point2(1.8, 2.1);
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landmark2=Point2(4.1, 1.8);
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serialized_pose1 = pose1.string_serialize();
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pose1ds = Pose2.string_deserialize(serialized_pose1);
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CHECK('pose1ds.equals(pose1, 1e-9)', pose1ds.equals(pose1, 1e-9));
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serialized_landmark1 = landmark1.string_serialize();
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landmark1ds = Point2.string_deserialize(serialized_landmark1);
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CHECK('landmark1ds.equals(landmark1, 1e-9)', landmark1ds.equals(landmark1, 1e-9));
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%% Create and serialize Values
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values = Values;
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values.insert(i1, pose1);
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values.insert(i2, pose2);
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values.insert(i3, pose3);
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values.insert(j1, landmark1);
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values.insert(j2, landmark2);
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serialized_values = values.string_serialize();
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valuesds = Values.string_deserialize(serialized_values);
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CHECK('valuesds.equals(values, 1e-9)', valuesds.equals(values, 1e-9));
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%% Create graph and factors and serialize
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graph = NonlinearFactorGraph;
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% Prior factor - FAIL: unregistered class
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@ -25,36 +52,30 @@ priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin
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priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]);
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graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph
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% Between Factors - FAIL: unregistered class
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odometry = Pose2(2.0, 0.0, 0.0);
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odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]);
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graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise));
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graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise));
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% % Between Factors - FAIL: unregistered class
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% odometry = Pose2(2.0, 0.0, 0.0);
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% odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]);
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% graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise));
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% graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise));
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%
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% % BearingRange Factors - FAIL: unregistered class
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% degrees = pi/180;
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% brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
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% graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise));
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% graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise));
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% graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise));
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% BearingRange Factors - FAIL: unregistered class
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degrees = pi/180;
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brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
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graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise));
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graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise));
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graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise));
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%% Create Values
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values = Values;
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values.insert(i1, Pose2(0.5, 0.0, 0.2));
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values.insert(i2, Pose2(2.3, 0.1,-0.2));
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values.insert(i3, Pose2(4.1, 0.1, 0.1));
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values.insert(j1, Point2(1.8, 2.1));
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values.insert(j2, Point2(4.1, 1.8));
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%% Check that serialization works properly
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serialized_values = serializeValues(values); % returns a string
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deserializedValues = deserializeValues(serialized_values); % returns a new values
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CHECK('values.equals(deserializedValues)',values.equals(deserializedValues,1e-9));
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CHECK('serializeValuesToFile(values, values.dat)', serializeValuesToFile(values, 'values.dat'));
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deserializedValuesFile = deserializeValuesFromFile('values.dat'); % returns a new values
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CHECK('values.equals(deserializedValuesFile)',values.equals(deserializedValuesFile,1e-9));
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%% Old interface
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% %% Check that serialization works properly
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% serialized_values = serializeValues(values); % returns a string
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% deserializedValues = deserializeValues(serialized_values); % returns a new values
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% CHECK('values.equals(deserializedValues)',values.equals(deserializedValues,1e-9));
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%
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% CHECK('serializeValuesToFile(values, values.dat)', serializeValuesToFile(values, 'values.dat'));
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% deserializedValuesFile = deserializeValuesFromFile('values.dat'); % returns a new values
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% CHECK('values.equals(deserializedValuesFile)',values.equals(deserializedValuesFile,1e-9));
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%
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% % FAIL: unregistered class - derived class not registered or exported
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% serialized_graph = serializeGraph(graph); % returns a string
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% deserializedGraph = deserializeGraph(serialized_graph); % returns a new graph
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