Added direct saving to/from files for graph/values serialization

gtsam/base/serialization.h

@@ -20,6 +20,7 @@
 #pragma once
 
 #include <sstream>
+#include <fstream>
 #include <string>
 
 // includes for standard serialization types
@@ -57,6 +58,28 @@ void deserialize(const std::string& serialized, T& output) {
   in_archive >> output;
 }
 
+template<class T>
+bool serializeToFile(const T& input, const std::string& filename) {
+  std::ofstream out_archive_stream(filename.c_str());
+  if (!out_archive_stream.is_open())
+    return false;
+  boost::archive::text_oarchive out_archive(out_archive_stream);
+  out_archive << input;
+  out_archive_stream.close();
+  return true;
+}
+
+template<class T>
+bool deserializeFromFile(const std::string& filename, T& output) {
+  std::ifstream in_archive_stream(filename.c_str());
+  if (!in_archive_stream.is_open())
+    return false;
+  boost::archive::text_iarchive in_archive(in_archive_stream);
+  in_archive >> output;
+  in_archive_stream.close();
+  return true;
+}
+
 // Serialization to XML format with named structures
 template<class T>
 std::string serializeXML(const T& input, const std::string& name="data") {
@@ -73,6 +96,28 @@ void deserializeXML(const std::string& serialized, T& output, const std::string&
   in_archive >> boost::serialization::make_nvp(name.c_str(), output);
 }
 
+template<class T>
+bool serializeToXMLFile(const T& input, const std::string& filename, const std::string& name="data") {
+  std::ofstream out_archive_stream(filename.c_str());
+  if (!out_archive_stream.is_open())
+    return false;
+  boost::archive::xml_oarchive out_archive(out_archive_stream);
+  out_archive << boost::serialization::make_nvp(name.c_str(), input);;
+  out_archive_stream.close();
+  return true;
+}
+
+template<class T>
+bool deserializeFromXMLFile(const std::string& filename, T& output, const std::string& name="data") {
+  std::ifstream in_archive_stream(filename.c_str());
+  if (!in_archive_stream.is_open())
+    return false;
+  boost::archive::xml_iarchive in_archive(in_archive_stream);
+  in_archive >> boost::serialization::make_nvp(name.c_str(), output);
+  in_archive_stream.close();
+  return true;
+}
+
 // Serialization to binary format with named structures
 template<class T>
 std::string serializeBinary(const T& input, const std::string& name="data") {
@@ -89,4 +134,26 @@ void deserializeBinary(const std::string& serialized, T& output, const std::stri
   in_archive >> boost::serialization::make_nvp(name.c_str(), output);
 }
 
+template<class T>
+bool deserializeToBinaryFile(const T& input, const std::string& filename, const std::string& name="data") {
+  std::ofstream out_archive_stream(filename.c_str());
+  if (!out_archive_stream.is_open())
+    return false;
+  boost::archive::binary_oarchive out_archive(out_archive_stream);
+  out_archive << boost::serialization::make_nvp(name.c_str(), input);;
+  out_archive_stream.close();
+  return true;
+}
+
+template<class T>
+bool deserializeFromBinaryFile(const std::string& filename, T& output, const std::string& name="data") {
+  std::ifstream in_archive_stream(filename.c_str());
+  if (!in_archive_stream.is_open())
+    return false;
+  boost::archive::binary_iarchive in_archive(in_archive_stream);
+  in_archive >> boost::serialization::make_nvp(name.c_str(), output);
+  in_archive_stream.close();
+  return true;
+}
+
 } // \namespace gtsam

gtsam/slam/serialization.cpp

@@ -253,5 +253,61 @@ Values::shared_ptr gtsam::deserializeValuesXML(const std::string& serialized_val
 }
 
 /* ************************************************************************* */
+bool gtsam::serializeGraphToFile(const NonlinearFactorGraph& graph, const std::string& fname) {
+  return serializeToFile<NonlinearFactorGraph>(graph, fname);
+}
+
+/* ************************************************************************* */
+bool gtsam::serializeGraphToXMLFile(const NonlinearFactorGraph& graph,
+    const std::string& fname, const std::string& name) {
+  return serializeToXMLFile<NonlinearFactorGraph>(graph, fname, name);
+}
+
+/* ************************************************************************* */
+bool gtsam::serializeValuesToFile(const Values& values, const std::string& fname) {
+  return serializeToFile<Values>(values, fname);
+}
+
+/* ************************************************************************* */
+bool gtsam::serializeValuesToXMLFile(const Values& values,
+    const std::string& fname, const std::string& name) {
+  return serializeToXMLFile<Values>(values, fname, name);
+}
+
+/* ************************************************************************* */
+NonlinearFactorGraph::shared_ptr gtsam::deserializeGraphToFile(const std::string& fname) {
+  NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
+  if (!deserializeFromFile<NonlinearFactorGraph>(fname, *result))
+    throw std::invalid_argument("Failed to open file" + fname);
+  return result;
+}
+
+/* ************************************************************************* */
+NonlinearFactorGraph::shared_ptr gtsam::deserializeGraphToXMLFile(const std::string& fname,
+    const std::string& name) {
+  NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
+  if (!deserializeFromXMLFile<NonlinearFactorGraph>(fname, *result, name))
+    throw std::invalid_argument("Failed to open file" + fname);
+  return result;
+}
+
+/* ************************************************************************* */
+Values::shared_ptr gtsam::deserializeValuesToFile(const std::string& fname) {
+  Values::shared_ptr result(new Values());
+  if (!deserializeFromFile<Values>(fname, *result))
+    throw std::invalid_argument("Failed to open file" + fname);
+  return result;
+}
+
+/* ************************************************************************* */
+Values::shared_ptr gtsam::deserializeValuesToXMLFile(const std::string& fname,
+    const std::string& name) {
+  Values::shared_ptr result(new Values());
+  if (!deserializeFromXMLFile<Values>(fname, *result, name))
+    throw std::invalid_argument("Failed to open file" + fname);
+  return result;
+}
+
+/* ************************************************************************* */
 
 

gtsam/slam/serialization.h

@@ -35,6 +35,28 @@ std::string serializeValuesXML(const Values& values, const std::string& name = "
 Values::shared_ptr deserializeValuesXML(const std::string& serialized_values,
     const std::string& name = "values");
 
+// Serialize to/from files
+// serialize functions return true if successful
+// Filename arguments include path
+
+// Serialize
+bool serializeGraphToFile(const NonlinearFactorGraph& graph, const std::string& fname);
+bool serializeGraphToXMLFile(const NonlinearFactorGraph& graph,
+    const std::string& fname, const std::string& name = "graph");
+
+bool serializeValuesToFile(const Values& values, const std::string& fname);
+bool serializeValuesToXMLFile(const Values& values,
+    const std::string& fname, const std::string& name = "values");
+
+// Deserialize
+NonlinearFactorGraph::shared_ptr deserializeGraphToFile(const std::string& fname);
+NonlinearFactorGraph::shared_ptr deserializeGraphToXMLFile(const std::string& fname,
+    const std::string& name = "graph");
+
+Values::shared_ptr deserializeValuesToFile(const std::string& fname);
+Values::shared_ptr deserializeValuesToXMLFile(const std::string& fname,
+    const std::string& name = "values");
+
 } // \namespace gtsam
 
 

gtsam/slam/tests/testSerialization.cpp

@@ -16,9 +16,23 @@
 
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
+#include <gtsam/slam/BearingRangeFactor.h>
+
+#include <stdlib.h>
+#include <fstream>
+#include <sstream>
+#include <boost/assign/std/vector.hpp>
+#include <boost/filesystem.hpp>
 
 using namespace std;
 using namespace gtsam;
+using namespace boost::assign;
+namespace fs = boost::filesystem;
+#ifdef TOPSRCDIR
+static string topdir = TOPSRCDIR;
+#else
+static string topdir = "TOPSRCDIR_NOT_CONFIGURED"; // If TOPSRCDIR is not defined, we error
+#endif
 
 Values exampleValues() {
   Values result;
@@ -35,6 +49,7 @@ NonlinearFactorGraph exampleGraph() {
   NonlinearFactorGraph graph;
   graph.add(PriorFactor<Pose2>(234, Pose2(1.0, 2.0, 0.3), noiseModel::Diagonal::Sigmas(ones(3))));
   graph.add(BetweenFactor<Pose2>(234, 567, Pose2(1.0, 2.0, 0.3), noiseModel::Diagonal::Sigmas(ones(3))));
+  graph.add(BearingRangeFactor<Pose2,Point2>(234, 567, Rot2::fromAngle(0.3), 2.0, noiseModel::Diagonal::Sigmas(ones(2))));
   return graph;
 }
 
@@ -70,6 +85,38 @@ TEST( testSerialization, xml_values_serialization ) {
   EXPECT(assert_equal(values, actValues, 1e-5));
 }
 
+/* ************************************************************************* */
+TEST( testSerialization, serialization_file ) {
+  // Create files in folder in build folder
+  fs::remove_all("actual");
+  fs::create_directory("actual");
+  string path = "actual/";
+
+  NonlinearFactorGraph graph = exampleGraph();
+  Values values = exampleValues();
+
+  // Serialize objects using each configuration
+  EXPECT(serializeGraphToFile(graph, path + "graph.dat"));
+  EXPECT(serializeGraphToXMLFile(graph, path + "graph.xml", "graph1"));
+
+  EXPECT(serializeValuesToFile(values, path + "values.dat"));
+  EXPECT(serializeValuesToXMLFile(values, path + "values.xml", "values1"));
+
+  // Deserialize
+  NonlinearFactorGraph actGraph = *deserializeGraphToFile(path + "graph.dat");
+  NonlinearFactorGraph actGraphXML = *deserializeGraphToXMLFile(path + "graph.xml", "graph1");
+
+  Values actValues = *deserializeValuesToFile(path + "values.dat");
+  Values actValuesXML = *deserializeValuesToXMLFile(path + "values.xml", "values1");
+
+  // Verify
+  EXPECT(assert_equal(graph, actGraph));
+  EXPECT(assert_equal(graph, actGraphXML));
+
+  EXPECT(assert_equal(values, actValues));
+  EXPECT(assert_equal(values, actValuesXML));
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */