Merge pull request #558 from borglab/fix/serialization

Fix Python serialization

gtsam/geometry/tests/testSerializationGeometry.cpp

@@ -57,7 +57,7 @@ static StereoCamera cam2(pose3, cal4ptr);
 static StereoPoint2 spt(1.0, 2.0, 3.0);
 
 /* ************************************************************************* */
-TEST_DISABLED (Serialization, text_geometry) {
+TEST (Serialization, text_geometry) {
   EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0)));
   EXPECT(equalsObj<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
   EXPECT(equalsObj<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
@@ -82,7 +82,7 @@ TEST_DISABLED (Serialization, text_geometry) {
 }
 
 /* ************************************************************************* */
-TEST_DISABLED (Serialization, xml_geometry) {
+TEST (Serialization, xml_geometry) {
   EXPECT(equalsXML<gtsam::Point2>(Point2(1.0, 2.0)));
   EXPECT(equalsXML<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
   EXPECT(equalsXML<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
@@ -106,7 +106,7 @@ TEST_DISABLED (Serialization, xml_geometry) {
 }
 
 /* ************************************************************************* */
-TEST_DISABLED (Serialization, binary_geometry) {
+TEST (Serialization, binary_geometry) {
   EXPECT(equalsBinary<gtsam::Point2>(Point2(1.0, 2.0)));
   EXPECT(equalsBinary<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
   EXPECT(equalsBinary<gtsam::Rot2>(Rot2::fromDegrees(30.0)));

python/gtsam/tests/test_Pose3.py

@@ -65,6 +65,14 @@ class TestPose3(GtsamTestCase):
         actual = Pose3.adjoint_(xi, xi)
         np.testing.assert_array_equal(actual, expected)
 
+    def test_serialization(self):
+        """Test if serialization is working normally"""
+        expected = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
+        actual = Pose3()
+        serialized = expected.serialize()
+        actual.deserialize(serialized)
+        self.gtsamAssertEquals(expected, actual, 1e-10)
+
 
 if __name__ == "__main__":
     unittest.main()

wrap/pybind_wrapper.py

@@ -69,13 +69,13 @@ class PybindWrapper(object):
             return textwrap.dedent('''
                     .def("serialize",
                         []({class_inst} self){{
-                            return gtsam::serialize(self);
+                            return gtsam::serialize(*self);
                         }}
                     )
                     .def("deserialize",
                         []({class_inst} self, string serialized){{
-                            return gtsam::deserialize(serialized, self);
+                            gtsam::deserialize(serialized, *self);
-                        }})
+                        }}, py::arg("serialized"))
                     '''.format(class_inst=cpp_class + '*'))
 
         is_method = isinstance(method, instantiator.InstantiatedMethod)

wrap/tests/expected-python/geometry_pybind.cpp

@@ -40,13 +40,13 @@ PYBIND11_MODULE(geometry_py, m_) {
         .def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();})
 .def("serialize",
     [](gtsam::Point2* self){
-        return gtsam::serialize(self);
+        return gtsam::serialize(*self);
     }
 )
 .def("deserialize",
     [](gtsam::Point2* self, string serialized){
-        return gtsam::deserialize(serialized, self);
+        gtsam::deserialize(serialized, *self);
-    })
+    }, py::arg("serialized"))
 ;
 
     py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
@@ -54,13 +54,13 @@ PYBIND11_MODULE(geometry_py, m_) {
         .def("norm",[](gtsam::Point3* self){return self->norm();})
 .def("serialize",
     [](gtsam::Point3* self){
-        return gtsam::serialize(self);
+        return gtsam::serialize(*self);
     }
 )
 .def("deserialize",
     [](gtsam::Point3* self, string serialized){
-        return gtsam::deserialize(serialized, self);
+        gtsam::deserialize(serialized, *self);
-    })
+    }, py::arg("serialized"))
 
         .def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
         .def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));