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Fix serialization of ISAM2 class #816

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Jul 19, 2021
Merged

Fix serialization of ISAM2 class #816

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df579ec
Fix serialization of ISAM2 class
ScottMcMichael Jul 9, 2021
8c68e21
Added ISAM2 serialize test
ScottMcMichael Jul 10, 2021
1d75a07
Try macOS fix
ScottMcMichael Jul 18, 2021
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10 changes: 10 additions & 0 deletions gtsam/inference/VariableIndex.h
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Original file line number Diff line number Diff line change
Expand Up @@ -182,6 +182,16 @@ class GTSAM_EXPORT VariableIndex {
return item->second;
}

private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(index_);
ar & BOOST_SERIALIZATION_NVP(nFactors_);
ar & BOOST_SERIALIZATION_NVP(nEntries_);
}

/// @}
};

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20 changes: 20 additions & 0 deletions gtsam/nonlinear/ISAM2.h
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Expand Up @@ -315,6 +315,26 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
void removeVariables(const KeySet& unusedKeys);

void updateDelta(bool forceFullSolve = false) const;

private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & boost::serialization::base_object<BayesTree<ISAM2Clique> >(*this);
ar & BOOST_SERIALIZATION_NVP(theta_);
ar & BOOST_SERIALIZATION_NVP(variableIndex_);
ar & BOOST_SERIALIZATION_NVP(delta_);
ar & BOOST_SERIALIZATION_NVP(deltaNewton_);
ar & BOOST_SERIALIZATION_NVP(RgProd_);
ar & BOOST_SERIALIZATION_NVP(deltaReplacedMask_);
ar & BOOST_SERIALIZATION_NVP(nonlinearFactors_);
ar & BOOST_SERIALIZATION_NVP(linearFactors_);
ar & BOOST_SERIALIZATION_NVP(doglegDelta_);
ar & BOOST_SERIALIZATION_NVP(fixedVariables_);
ar & BOOST_SERIALIZATION_NVP(update_count_);
}

}; // ISAM2

/// traits
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80 changes: 80 additions & 0 deletions gtsam/nonlinear/tests/testSerializationNonlinear.cpp
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Expand Up @@ -17,6 +17,7 @@
*/

#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Pose2.h>
Expand All @@ -31,6 +32,30 @@ using namespace std;
using namespace gtsam;
using namespace gtsam::serializationTestHelpers;


/* ************************************************************************* */
// Create GUIDs for Noisemodels
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust");
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");

/* ************************************************************************* */
// Create GUIDs for factors
BOOST_CLASS_EXPORT_GUID(gtsam::PriorFactor<gtsam::Pose3>, "gtsam::PriorFactor<gtsam::Pose3>");
BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional");


/* ************************************************************************* */
// Export all classes derived from Value
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
Expand Down Expand Up @@ -82,6 +107,61 @@ TEST (Serialization, TemplatedValues) {
EXPECT(equalsBinary(values));
}

TEST(Serialization, ISAM2) {

gtsam::ISAM2Params parameters;
gtsam::ISAM2 solver(parameters);
gtsam::NonlinearFactorGraph graph;
gtsam::Values initialValues;
initialValues.clear();

gtsam::Vector6 temp6;
for (int i = 0; i < 6; ++i) {
temp6[i] = 0.0001;
}
gtsam::noiseModel::Diagonal::shared_ptr noiseModel = gtsam::noiseModel::Diagonal::Sigmas(temp6);

gtsam::Pose3 pose0(gtsam::Rot3(), gtsam::Point3(0, 0, 0));
gtsam::Symbol symbol0('x', 0);
graph.add(gtsam::PriorFactor<gtsam::Pose3>(symbol0, pose0, noiseModel));
initialValues.insert(symbol0, pose0);

solver.update(graph, initialValues,
gtsam::FastVector<gtsam::FactorIndex>());

std::string binaryPath = "saved_solver.dat";
try {
std::ofstream outputStream(binaryPath);
boost::archive::binary_oarchive outputArchive(outputStream);
outputArchive << solver;
} catch(...) {
EXPECT(false);
}

gtsam::ISAM2 solverFromDisk;
try {
std::ifstream ifs(binaryPath);
boost::archive::binary_iarchive inputArchive(ifs);
inputArchive >> solverFromDisk;
} catch(...) {
EXPECT(false);
}

gtsam::Pose3 p1, p2;
try {
p1 = solver.calculateEstimate<gtsam::Pose3>(symbol0);
} catch(std::exception &e) {
EXPECT(false);
}

try {
p2 = solverFromDisk.calculateEstimate<gtsam::Pose3>(symbol0);
} catch(std::exception &e) {
EXPECT(false);
}
EXPECT(assert_equal(p1, p2));
}

/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */