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Fix Python serialization #558

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merged 6 commits into from
Oct 7, 2020
Merged

Fix Python serialization #558

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2c51730
Merging 'master' into 'wrap'
ProfFan Oct 7, 2020
f9e7c7d
Squashed 'wrap/' changes from 5e1373486..2192b194e
ProfFan Oct 7, 2020
82d6b8b
Resurrect serialization tests
ProfFan Oct 7, 2020
114f069
Add unit test for python serdes
ProfFan Oct 7, 2020
16418e2
Squashed 'wrap/' changes from 2192b194e..dfa624e77
ProfFan Oct 7, 2020
8d6e689
Merging 'master' into 'wrap'
ProfFan Oct 7, 2020
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6 changes: 3 additions & 3 deletions gtsam/geometry/tests/testSerializationGeometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ static StereoCamera cam2(pose3, cal4ptr);
static StereoPoint2 spt(1.0, 2.0, 3.0);

/* ************************************************************************* */
TEST_DISABLED (Serialization, text_geometry) {
TEST (Serialization, text_geometry) {
EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0)));
EXPECT(equalsObj<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
EXPECT(equalsObj<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
Expand All @@ -82,7 +82,7 @@ TEST_DISABLED (Serialization, text_geometry) {
}

/* ************************************************************************* */
TEST_DISABLED (Serialization, xml_geometry) {
TEST (Serialization, xml_geometry) {
EXPECT(equalsXML<gtsam::Point2>(Point2(1.0, 2.0)));
EXPECT(equalsXML<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
EXPECT(equalsXML<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
Expand All @@ -106,7 +106,7 @@ TEST_DISABLED (Serialization, xml_geometry) {
}

/* ************************************************************************* */
TEST_DISABLED (Serialization, binary_geometry) {
TEST (Serialization, binary_geometry) {
EXPECT(equalsBinary<gtsam::Point2>(Point2(1.0, 2.0)));
EXPECT(equalsBinary<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
EXPECT(equalsBinary<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
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8 changes: 8 additions & 0 deletions python/gtsam/tests/test_Pose3.py
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Expand Up @@ -65,6 +65,14 @@ def test_adjoint(self):
actual = Pose3.adjoint_(xi, xi)
np.testing.assert_array_equal(actual, expected)

def test_serialization(self):
"""Test if serialization is working normally"""
expected = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
actual = Pose3()
serialized = expected.serialize()
actual.deserialize(serialized)
self.gtsamAssertEquals(expected, actual, 1e-10)


if __name__ == "__main__":
unittest.main()
6 changes: 3 additions & 3 deletions wrap/pybind_wrapper.py
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Expand Up @@ -69,13 +69,13 @@ def _wrap_method(self, method, cpp_class, prefix, suffix, method_suffix=""):
return textwrap.dedent('''
.def("serialize",
[]({class_inst} self){{
return gtsam::serialize(self);
return gtsam::serialize(*self);
}}
)
.def("deserialize",
[]({class_inst} self, string serialized){{
return gtsam::deserialize(serialized, self);
}})
gtsam::deserialize(serialized, *self);
}}, py::arg("serialized"))
'''.format(class_inst=cpp_class + '*'))

is_method = isinstance(method, instantiator.InstantiatedMethod)
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12 changes: 6 additions & 6 deletions wrap/tests/expected-python/geometry_pybind.cpp
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Expand Up @@ -40,27 +40,27 @@ PYBIND11_MODULE(geometry_py, m_) {
.def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();})
.def("serialize",
[](gtsam::Point2* self){
return gtsam::serialize(self);
return gtsam::serialize(*self);
}
)
.def("deserialize",
[](gtsam::Point2* self, string serialized){
return gtsam::deserialize(serialized, self);
})
gtsam::deserialize(serialized, *self);
}, py::arg("serialized"))
;

py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
.def(py::init< double, double, double>(), py::arg("x"), py::arg("y"), py::arg("z"))
.def("norm",[](gtsam::Point3* self){return self->norm();})
.def("serialize",
[](gtsam::Point3* self){
return gtsam::serialize(self);
return gtsam::serialize(*self);
}
)
.def("deserialize",
[](gtsam::Point3* self, string serialized){
return gtsam::deserialize(serialized, self);
})
gtsam::deserialize(serialized, *self);
}, py::arg("serialized"))

.def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
.def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));
Expand Down