From 666e30a59b136521f1168971a053b55c58fdb536 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Wed, 12 Jun 2013 19:30:21 +0000
Subject: [PATCH] Changed serialization interface to return shared versions of
 graph/values to avoid copies in matlab

---
 gtsam/slam/serialization.cpp           | 24 ++++++++++++------------
 gtsam/slam/serialization.h             |  8 ++++----
 gtsam/slam/tests/testSerialization.cpp |  8 ++++----
 3 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/gtsam/slam/serialization.cpp b/gtsam/slam/serialization.cpp
index a57d82add..d8a1cce06 100644
--- a/gtsam/slam/serialization.cpp
+++ b/gtsam/slam/serialization.cpp
@@ -208,9 +208,9 @@ std::string gtsam::serializeGraph(const NonlinearFactorGraph& graph) {
 }
 
 /* ************************************************************************* */
-NonlinearFactorGraph gtsam::deserializeGraph(const std::string& serialized_graph) {
-  NonlinearFactorGraph result;
-  deserialize<NonlinearFactorGraph>(serialized_graph, result);
+NonlinearFactorGraph::shared_ptr gtsam::deserializeGraph(const std::string& serialized_graph) {
+  NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
+  deserialize<NonlinearFactorGraph>(serialized_graph, *result);
   return result;
 }
 
@@ -220,10 +220,10 @@ std::string gtsam::serializeGraphXML(const NonlinearFactorGraph& graph, const st
 }
 
 /* ************************************************************************* */
-NonlinearFactorGraph gtsam::deserializeGraphXML(const std::string& serialized_graph,
+NonlinearFactorGraph::shared_ptr gtsam::deserializeGraphXML(const std::string& serialized_graph,
     const std::string& name) {
-  NonlinearFactorGraph result;
-  deserializeXML<NonlinearFactorGraph>(serialized_graph, result, name);
+  NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
+  deserializeXML<NonlinearFactorGraph>(serialized_graph, *result, name);
   return result;
 }
 
@@ -233,9 +233,9 @@ std::string gtsam::serializeValues(const Values& values) {
 }
 
 /* ************************************************************************* */
-Values gtsam::deserializeValues(const std::string& serialized_values) {
-  Values result;
-  deserialize<Values>(serialized_values, result);
+Values::shared_ptr gtsam::deserializeValues(const std::string& serialized_values) {
+  Values::shared_ptr result(new Values());
+  deserialize<Values>(serialized_values, *result);
   return result;
 }
 
@@ -245,10 +245,10 @@ std::string gtsam::serializeValuesXML(const Values& values, const std::string& n
 }
 
 /* ************************************************************************* */
-Values gtsam::deserializeValuesXML(const std::string& serialized_values,
+Values::shared_ptr gtsam::deserializeValuesXML(const std::string& serialized_values,
     const std::string& name) {
-  Values result;
-  deserializeXML<Values>(serialized_values, result, name);
+  Values::shared_ptr result(new Values());
+  deserializeXML<Values>(serialized_values, *result, name);
   return result;
 }
 
diff --git a/gtsam/slam/serialization.h b/gtsam/slam/serialization.h
index ceb237686..0dde72a8c 100644
--- a/gtsam/slam/serialization.h
+++ b/gtsam/slam/serialization.h
@@ -16,23 +16,23 @@ namespace gtsam {
 // Serialize/Deserialize a NonlinearFactorGraph
 std::string serializeGraph(const NonlinearFactorGraph& graph);
 
-NonlinearFactorGraph deserializeGraph(const std::string& serialized_graph);
+NonlinearFactorGraph::shared_ptr deserializeGraph(const std::string& serialized_graph);
 
 std::string serializeGraphXML(const NonlinearFactorGraph& graph,
     const std::string& name = "graph");
 
-NonlinearFactorGraph deserializeGraphXML(const std::string& serialized_graph,
+NonlinearFactorGraph::shared_ptr deserializeGraphXML(const std::string& serialized_graph,
     const std::string& name = "graph");
 
 
 // Serialize/Deserialize a Values
 std::string serializeValues(const Values& values);
 
-Values deserializeValues(const std::string& serialized_values);
+Values::shared_ptr deserializeValues(const std::string& serialized_values);
 
 std::string serializeValuesXML(const Values& values, const std::string& name = "values");
 
-Values deserializeValuesXML(const std::string& serialized_values,
+Values::shared_ptr deserializeValuesXML(const std::string& serialized_values,
     const std::string& name = "values");
 
 } // \namespace gtsam
diff --git a/gtsam/slam/tests/testSerialization.cpp b/gtsam/slam/tests/testSerialization.cpp
index 64d5504da..91b938ad0 100644
--- a/gtsam/slam/tests/testSerialization.cpp
+++ b/gtsam/slam/tests/testSerialization.cpp
@@ -42,7 +42,7 @@ NonlinearFactorGraph exampleGraph() {
 TEST( testSerialization, text_graph_serialization ) {
   NonlinearFactorGraph graph = exampleGraph();
   string serialized = serializeGraph(graph);
-  NonlinearFactorGraph actGraph = deserializeGraph(serialized);
+  NonlinearFactorGraph actGraph = *deserializeGraph(serialized);
   EXPECT(assert_equal(graph, actGraph));
 }
 
@@ -50,7 +50,7 @@ TEST( testSerialization, text_graph_serialization ) {
 TEST( testSerialization, xml_graph_serialization ) {
   NonlinearFactorGraph graph = exampleGraph();
   string serialized = serializeGraphXML(graph, "graph1");
-  NonlinearFactorGraph actGraph = deserializeGraphXML(serialized, "graph1");
+  NonlinearFactorGraph actGraph = *deserializeGraphXML(serialized, "graph1");
   EXPECT(assert_equal(graph, actGraph));
 }
 
@@ -58,7 +58,7 @@ TEST( testSerialization, xml_graph_serialization ) {
 TEST( testSerialization, text_values_serialization ) {
   Values values = exampleValues();
   string serialized = serializeValues(values);
-  Values actValues = deserializeValues(serialized);
+  Values actValues = *deserializeValues(serialized);
   EXPECT(assert_equal(values, actValues));
 }
 
@@ -66,7 +66,7 @@ TEST( testSerialization, text_values_serialization ) {
 TEST( testSerialization, xml_values_serialization ) {
   Values values = exampleValues();
   string serialized = serializeValuesXML(values, "values1");
-  Values actValues = deserializeValuesXML(serialized, "values1");
+  Values actValues = *deserializeValuesXML(serialized, "values1");
   EXPECT(assert_equal(values, actValues, 1e-5));
 }