Merge pull request #1059 from senselessDev/expose_graphvizformatting

gtsam/discrete/discrete.i

@@ -233,6 +233,12 @@ class DotWriter {
   DotWriter(double figureWidthInches = 5, double figureHeightInches = 5,
             bool plotFactorPoints = true, bool connectKeysToFactor = true,
             bool binaryEdges = true);
+
+  double figureWidthInches;
+  double figureHeightInches;
+  bool plotFactorPoints;
+  bool connectKeysToFactor;
+  bool binaryEdges;
 };
 
 #include <gtsam/discrete/DiscreteFactorGraph.h>

gtsam/nonlinear/nonlinear.i

@@ -133,6 +133,18 @@ class Ordering {
   void serialize() const;
 };
 
+#include <gtsam/nonlinear/GraphvizFormatting.h>
+class GraphvizFormatting : gtsam::DotWriter {
+  GraphvizFormatting();
+
+  enum Axis { X, Y, Z, NEGX, NEGY, NEGZ };
+  Axis paperHorizontalAxis;
+  Axis paperVerticalAxis;
+
+  double scale;
+  bool mergeSimilarFactors;
+};
+
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 class NonlinearFactorGraph {
   NonlinearFactorGraph();
@@ -195,10 +207,13 @@ class NonlinearFactorGraph {
 
   string dot(
       const gtsam::Values& values,
-      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const GraphvizFormatting& writer = GraphvizFormatting());
   void saveGraph(const string& s, const gtsam::Values& values,
                  const gtsam::KeyFormatter& keyFormatter =
-                     gtsam::DefaultKeyFormatter) const;
+                     gtsam::DefaultKeyFormatter,
+                 const GraphvizFormatting& writer =
+                     GraphvizFormatting()) const;
 };
 
 #include <gtsam/nonlinear/NonlinearFactor.h>

python/CMakeLists.txt

@@ -181,5 +181,5 @@ add_custom_target(
           ${CMAKE_COMMAND} -E env # add package to python path so no need to install
           "PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
           ${PYTHON_EXECUTABLE} -m unittest discover -v -s .
-          DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
+          DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES}
           WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/tests")

python/gtsam/tests/test_GraphvizFormatting.py

@@ -0,0 +1,135 @@
+"""
+See LICENSE for the license information
+
+Unit tests for Graphviz formatting of NonlinearFactorGraph.
+Author: senselessDev (contact by mentioning on GitHub, e.g. in PR#1059)
+"""
+
+# pylint: disable=no-member, invalid-name
+
+import unittest
+import textwrap
+
+import numpy as np
+
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestGraphvizFormatting(GtsamTestCase):
+    """Tests for saving NonlinearFactorGraph to GraphViz format."""
+
+    def setUp(self):
+        self.graph = gtsam.NonlinearFactorGraph()
+
+        odometry = gtsam.Pose2(2.0, 0.0, 0.0)
+        odometryNoise = gtsam.noiseModel.Diagonal.Sigmas(
+            np.array([0.2, 0.2, 0.1]))
+        self.graph.add(gtsam.BetweenFactorPose2(0, 1, odometry, odometryNoise))
+        self.graph.add(gtsam.BetweenFactorPose2(1, 2, odometry, odometryNoise))
+
+        self.values = gtsam.Values()
+        self.values.insert_pose2(0, gtsam.Pose2(0., 0., 0.))
+        self.values.insert_pose2(1, gtsam.Pose2(2., 0., 0.))
+        self.values.insert_pose2(2, gtsam.Pose2(4., 0., 0.))
+
+    def test_default(self):
+        """Test with default GraphvizFormatting"""
+        expected_result = """\
+            graph {
+              size="5,5";
+
+              var0[label="0", pos="0,0!"];
+              var1[label="1", pos="0,2!"];
+              var2[label="2", pos="0,4!"];
+
+              factor0[label="", shape=point];
+              var0--factor0;
+              var1--factor0;
+              factor1[label="", shape=point];
+              var1--factor1;
+              var2--factor1;
+            }
+        """
+
+        self.assertEqual(self.graph.dot(self.values),
+                         textwrap.dedent(expected_result))
+
+    def test_swapped_axes(self):
+        """Test with user-defined GraphvizFormatting swapping x and y"""
+        expected_result = """\
+            graph {
+              size="5,5";
+
+              var0[label="0", pos="0,0!"];
+              var1[label="1", pos="2,0!"];
+              var2[label="2", pos="4,0!"];
+
+              factor0[label="", shape=point];
+              var0--factor0;
+              var1--factor0;
+              factor1[label="", shape=point];
+              var1--factor1;
+              var2--factor1;
+            }
+        """
+
+        graphviz_formatting = gtsam.GraphvizFormatting()
+        graphviz_formatting.paperHorizontalAxis = gtsam.GraphvizFormatting.Axis.X
+        graphviz_formatting.paperVerticalAxis = gtsam.GraphvizFormatting.Axis.Y
+        self.assertEqual(self.graph.dot(self.values,
+                                        writer=graphviz_formatting),
+                         textwrap.dedent(expected_result))
+
+    def test_factor_points(self):
+        """Test with user-defined GraphvizFormatting without factor points"""
+        expected_result = """\
+            graph {
+              size="5,5";
+
+              var0[label="0", pos="0,0!"];
+              var1[label="1", pos="0,2!"];
+              var2[label="2", pos="0,4!"];
+
+              var0--var1;
+              var1--var2;
+            }
+        """
+
+        graphviz_formatting = gtsam.GraphvizFormatting()
+        graphviz_formatting.plotFactorPoints = False
+
+        self.assertEqual(self.graph.dot(self.values,
+                                        writer=graphviz_formatting),
+                         textwrap.dedent(expected_result))
+
+    def test_width_height(self):
+        """Test with user-defined GraphvizFormatting for width and height"""
+        expected_result = """\
+            graph {
+              size="20,10";
+
+              var0[label="0", pos="0,0!"];
+              var1[label="1", pos="0,2!"];
+              var2[label="2", pos="0,4!"];
+
+              factor0[label="", shape=point];
+              var0--factor0;
+              var1--factor0;
+              factor1[label="", shape=point];
+              var1--factor1;
+              var2--factor1;
+            }
+        """
+
+        graphviz_formatting = gtsam.GraphvizFormatting()
+        graphviz_formatting.figureWidthInches = 20
+        graphviz_formatting.figureHeightInches = 10
+
+        self.assertEqual(self.graph.dot(self.values,
+                                        writer=graphviz_formatting),
+                         textwrap.dedent(expected_result))
+
+
+if __name__ == "__main__":
+    unittest.main()