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Changed serialization interface to return shared versions of graph/values to avoid copies in matlab

release/4.3a0
Alex Cunningham 2013-06-12 19:30:21 +00:00
parent 19f7da62dd
commit 666e30a59b
3 changed files with 20 additions and 20 deletions
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24
gtsam/slam/serialization.cpp
View File

@ -208,9 +208,9 @@ std::string gtsam::serializeGraph(const NonlinearFactorGraph& graph) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
NonlinearFactorGraph gtsam::deserializeGraph(const std::string& serialized_graph) { NonlinearFactorGraph::shared_ptr gtsam::deserializeGraph(const std::string& serialized_graph) {
NonlinearFactorGraph result; NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
deserialize<NonlinearFactorGraph>(serialized_graph, result); deserialize<NonlinearFactorGraph>(serialized_graph, *result);
return 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) { const std::string& name) {
NonlinearFactorGraph result; NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
deserializeXML<NonlinearFactorGraph>(serialized_graph, result, name); deserializeXML<NonlinearFactorGraph>(serialized_graph, *result, name);
return result; return result;
} }
@ -233,9 +233,9 @@ std::string gtsam::serializeValues(const Values& values) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
Values gtsam::deserializeValues(const std::string& serialized_values) { Values::shared_ptr gtsam::deserializeValues(const std::string& serialized_values) {
Values result; Values::shared_ptr result(new Values());
deserialize<Values>(serialized_values, result); deserialize<Values>(serialized_values, *result);
return 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) { const std::string& name) {
Values result; Values::shared_ptr result(new Values());
deserializeXML<Values>(serialized_values, result, name); deserializeXML<Values>(serialized_values, *result, name);
return result; return result;
} }

8
gtsam/slam/serialization.h
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@ -16,23 +16,23 @@ namespace gtsam {
// Serialize/Deserialize a NonlinearFactorGraph // Serialize/Deserialize a NonlinearFactorGraph
std::string serializeGraph(const NonlinearFactorGraph& graph); 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, std::string serializeGraphXML(const NonlinearFactorGraph& graph,
const std::string& name = "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"); const std::string& name = "graph");
// Serialize/Deserialize a Values // Serialize/Deserialize a Values
std::string serializeValues(const Values& 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"); 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"); const std::string& name = "values");
} // \namespace gtsam } // \namespace gtsam

8
gtsam/slam/tests/testSerialization.cpp
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@ -42,7 +42,7 @@ NonlinearFactorGraph exampleGraph() {
TEST( testSerialization, text_graph_serialization ) { TEST( testSerialization, text_graph_serialization ) {
NonlinearFactorGraph graph = exampleGraph(); NonlinearFactorGraph graph = exampleGraph();
string serialized = serializeGraph(graph); string serialized = serializeGraph(graph);
NonlinearFactorGraph actGraph = deserializeGraph(serialized); NonlinearFactorGraph actGraph = *deserializeGraph(serialized);
EXPECT(assert_equal(graph, actGraph)); EXPECT(assert_equal(graph, actGraph));
} }
@ -50,7 +50,7 @@ TEST( testSerialization, text_graph_serialization ) {
TEST( testSerialization, xml_graph_serialization ) { TEST( testSerialization, xml_graph_serialization ) {
NonlinearFactorGraph graph = exampleGraph(); NonlinearFactorGraph graph = exampleGraph();
string serialized = serializeGraphXML(graph, "graph1"); string serialized = serializeGraphXML(graph, "graph1");
NonlinearFactorGraph actGraph = deserializeGraphXML(serialized, "graph1"); NonlinearFactorGraph actGraph = *deserializeGraphXML(serialized, "graph1");
EXPECT(assert_equal(graph, actGraph)); EXPECT(assert_equal(graph, actGraph));
} }
@ -58,7 +58,7 @@ TEST( testSerialization, xml_graph_serialization ) {
TEST( testSerialization, text_values_serialization ) { TEST( testSerialization, text_values_serialization ) {
Values values = exampleValues(); Values values = exampleValues();
string serialized = serializeValues(values); string serialized = serializeValues(values);
Values actValues = deserializeValues(serialized); Values actValues = *deserializeValues(serialized);
EXPECT(assert_equal(values, actValues)); EXPECT(assert_equal(values, actValues));
} }
@ -66,7 +66,7 @@ TEST( testSerialization, text_values_serialization ) {
TEST( testSerialization, xml_values_serialization ) { TEST( testSerialization, xml_values_serialization ) {
Values values = exampleValues(); Values values = exampleValues();
string serialized = serializeValuesXML(values, "values1"); string serialized = serializeValuesXML(values, "values1");
Values actValues = deserializeValuesXML(serialized, "values1"); Values actValues = *deserializeValuesXML(serialized, "values1");
EXPECT(assert_equal(values, actValues, 1e-5)); EXPECT(assert_equal(values, actValues, 1e-5));
} }