12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #558 from borglab/fix/serialization 

Fix Python serialization
release/4.3a0
Fan Jiang 2020-10-07 10:12:19 -04:00 committed by GitHub
parent a0c298a123 8d6e689ac1
commit de4aa2ab93
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 20 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam/geometry/tests/testSerializationGeometry.cpp
View File

@ -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)));

8
python/gtsam/tests/test_Pose3.py
View File

@ -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()

6
wrap/pybind_wrapper.py
View File

@ -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)

12
wrap/tests/expected-python/geometry_pybind.cpp
View File

@ -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"));