env/gtsam-4.1.1/gtsam_unstable/slam/serialization.cpp

/**
 * @file serialization.cpp
 *
 * @date Jun 12, 2013
 * @author Alex Cunningham
 */

#include <gtsam/base/deprecated/LieMatrix_Deprecated.h>
#include <gtsam/base/deprecated/LieVector_Deprecated.h>
#include <gtsam/slam/serialization.h>
#include <gtsam/base/serialization.h>

//#include <gtsam/slam/AntiFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
//#include <gtsam/slam/BoundingConstraint.h>
#include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/sam/RangeFactor.h>
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianISAM.h>
#include <gtsam/linear/GaussianMultifrontalSolver.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3DS2.h>
//#include <gtsam/geometry/Cal3_S2Stereo.h>

using namespace gtsam;

// Creating as many permutations of factors as possible
typedef PriorFactor<LieVector>            PriorFactorLieVector;
typedef PriorFactor<LieMatrix>            PriorFactorLieMatrix;
typedef PriorFactor<Point2>               PriorFactorPoint2;
typedef PriorFactor<StereoPoint2>         PriorFactorStereoPoint2;
typedef PriorFactor<Point3>               PriorFactorPoint3;
typedef PriorFactor<Rot2>                 PriorFactorRot2;
typedef PriorFactor<Rot3>                 PriorFactorRot3;
typedef PriorFactor<Pose2>                PriorFactorPose2;
typedef PriorFactor<Pose3>                PriorFactorPose3;
typedef PriorFactor<Cal3_S2>              PriorFactorCal3_S2;
typedef PriorFactor<Cal3DS2>              PriorFactorCal3DS2;
typedef PriorFactor<CalibratedCamera>     PriorFactorCalibratedCamera;
typedef PriorFactor<PinholeCameraCal3_S2> PriorFactorPinholeCameraCal3_S2;
typedef PriorFactor<StereoCamera>         PriorFactorStereoCamera;

typedef BetweenFactor<LieVector>       BetweenFactorLieVector;
typedef BetweenFactor<LieMatrix>       BetweenFactorLieMatrix;
typedef BetweenFactor<Point2>          BetweenFactorPoint2;
typedef BetweenFactor<Point3>          BetweenFactorPoint3;
typedef BetweenFactor<Rot2>            BetweenFactorRot2;
typedef BetweenFactor<Rot3>            BetweenFactorRot3;
typedef BetweenFactor<Pose2>           BetweenFactorPose2;
typedef BetweenFactor<Pose3>           BetweenFactorPose3;

typedef NonlinearEquality<LieVector>              NonlinearEqualityLieVector;
typedef NonlinearEquality<LieMatrix>              NonlinearEqualityLieMatrix;
typedef NonlinearEquality<Point2>                 NonlinearEqualityPoint2;
typedef NonlinearEquality<StereoPoint2>           NonlinearEqualityStereoPoint2;
typedef NonlinearEquality<Point3>                 NonlinearEqualityPoint3;
typedef NonlinearEquality<Rot2>                   NonlinearEqualityRot2;
typedef NonlinearEquality<Rot3>                   NonlinearEqualityRot3;
typedef NonlinearEquality<Pose2>                  NonlinearEqualityPose2;
typedef NonlinearEquality<Pose3>                  NonlinearEqualityPose3;
typedef NonlinearEquality<Cal3_S2>                NonlinearEqualityCal3_S2;
typedef NonlinearEquality<Cal3DS2>                NonlinearEqualityCal3DS2;
typedef NonlinearEquality<CalibratedCamera>       NonlinearEqualityCalibratedCamera;
typedef NonlinearEquality<PinholeCameraCal3_S2>   NonlinearEqualityPinholeCameraCal3_S2;
typedef NonlinearEquality<StereoCamera>           NonlinearEqualityStereoCamera;

typedef RangeFactor<Pose2, Point2>                              RangeFactor2D;
typedef RangeFactor<Pose3, Point3>                              RangeFactor3D;
typedef RangeFactor<Pose2, Pose2>                               RangeFactorPose2;
typedef RangeFactor<Pose3, Pose3>                               RangeFactorPose3;
typedef RangeFactor<CalibratedCamera, Point3>                   RangeFactorCalibratedCameraPoint;
typedef RangeFactor<PinholeCameraCal3_S2, Point3>               RangeFactorPinholeCameraCal3_S2Point;
typedef RangeFactor<CalibratedCamera, CalibratedCamera>         RangeFactorCalibratedCamera;
typedef RangeFactor<PinholeCameraCal3_S2, PinholeCameraCal3_S2> RangeFactorPinholeCameraCal3_S2;

typedef BearingRangeFactor<Pose2, Point2>  BearingRangeFactor2D;
typedef BearingRangeFactor<Pose3, Point3>  BearingRangeFactor3D;

typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorCal3_S2;
typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;

typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;

typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;

typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFactor3D;


/* Create GUIDs for Noisemodels */
/* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
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::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::SharedNoiseModel, "gtsam_SharedNoiseModel");
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");

/* Create GUIDs for geometry */
/* ************************************************************************* */
GTSAM_VALUE_EXPORT(gtsam::LieVector);
GTSAM_VALUE_EXPORT(gtsam::LieMatrix);
GTSAM_VALUE_EXPORT(gtsam::Point2);
GTSAM_VALUE_EXPORT(gtsam::StereoPoint2);
GTSAM_VALUE_EXPORT(gtsam::Point3);
GTSAM_VALUE_EXPORT(gtsam::Rot2);
GTSAM_VALUE_EXPORT(gtsam::Rot3);
GTSAM_VALUE_EXPORT(gtsam::Pose2);
GTSAM_VALUE_EXPORT(gtsam::Pose3);
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
GTSAM_VALUE_EXPORT(gtsam::Cal3DS2);
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo);
GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera);
GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2);
GTSAM_VALUE_EXPORT(gtsam::StereoCamera);

/* Create GUIDs for factors */
/* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");

BOOST_CLASS_EXPORT_GUID(PriorFactorLieVector, "gtsam::PriorFactorLieVector");
BOOST_CLASS_EXPORT_GUID(PriorFactorLieMatrix, "gtsam::PriorFactorLieMatrix");
BOOST_CLASS_EXPORT_GUID(PriorFactorPoint2, "gtsam::PriorFactorPoint2");
BOOST_CLASS_EXPORT_GUID(PriorFactorStereoPoint2, "gtsam::PriorFactorStereoPoint2");
BOOST_CLASS_EXPORT_GUID(PriorFactorPoint3, "gtsam::PriorFactorPoint3");
BOOST_CLASS_EXPORT_GUID(PriorFactorRot2, "gtsam::PriorFactorRot2");
BOOST_CLASS_EXPORT_GUID(PriorFactorRot3, "gtsam::PriorFactorRot3");
BOOST_CLASS_EXPORT_GUID(PriorFactorPose2, "gtsam::PriorFactorPose2");
BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3");
BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2");
BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera");

BOOST_CLASS_EXPORT_GUID(BetweenFactorLieVector, "gtsam::BetweenFactorLieVector");
BOOST_CLASS_EXPORT_GUID(BetweenFactorLieMatrix, "gtsam::BetweenFactorLieMatrix");
BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint2, "gtsam::BetweenFactorPoint2");
BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint3, "gtsam::BetweenFactorPoint3");
BOOST_CLASS_EXPORT_GUID(BetweenFactorRot2, "gtsam::BetweenFactorRot2");
BOOST_CLASS_EXPORT_GUID(BetweenFactorRot3, "gtsam::BetweenFactorRot3");
BOOST_CLASS_EXPORT_GUID(BetweenFactorPose2, "gtsam::BetweenFactorPose2");
BOOST_CLASS_EXPORT_GUID(BetweenFactorPose3, "gtsam::BetweenFactorPose3");

BOOST_CLASS_EXPORT_GUID(NonlinearEqualityLieVector, "gtsam::NonlinearEqualityLieVector");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityLieMatrix, "gtsam::NonlinearEqualityLieMatrix");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint2, "gtsam::NonlinearEqualityPoint2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoPoint2, "gtsam::NonlinearEqualityStereoPoint2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint3, "gtsam::NonlinearEqualityPoint3");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot2, "gtsam::NonlinearEqualityRot2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot3, "gtsam::NonlinearEqualityRot3");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose2, "gtsam::NonlinearEqualityPose2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera");

BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D");
BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");

BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");

BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2");
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");

BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");

BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");

BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D");

#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41

typedef PriorFactor<SimpleCamera>               PriorFactorSimpleCamera;
typedef NonlinearEquality<SimpleCamera>         NonlinearEqualitySimpleCamera;
typedef RangeFactor<SimpleCamera, Point3>       RangeFactorSimpleCameraPoint;
typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;

GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");

#endif


/* ************************************************************************* */
// Actual implementations of functions
/* ************************************************************************* */
std::string gtsam::serializeGraph(const NonlinearFactorGraph& graph) {
  return serialize<NonlinearFactorGraph>(graph);
}

/* ************************************************************************* */
NonlinearFactorGraph::shared_ptr gtsam::deserializeGraph(const std::string& serialized_graph) {
  NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
  deserialize<NonlinearFactorGraph>(serialized_graph, *result);
  return result;
}

/* ************************************************************************* */
std::string gtsam::serializeGraphXML(const NonlinearFactorGraph& graph, const std::string& name) {
  return serializeXML<NonlinearFactorGraph>(graph, name);
}

/* ************************************************************************* */
NonlinearFactorGraph::shared_ptr gtsam::deserializeGraphXML(const std::string& serialized_graph,
    const std::string& name) {
  NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
  deserializeXML<NonlinearFactorGraph>(serialized_graph, *result, name);
  return result;
}

/* ************************************************************************* */
std::string gtsam::serializeValues(const Values& values) {
  return serialize<Values>(values);
}

/* ************************************************************************* */
Values::shared_ptr gtsam::deserializeValues(const std::string& serialized_values) {
  Values::shared_ptr result(new Values());
  deserialize<Values>(serialized_values, *result);
  return result;
}

/* ************************************************************************* */
std::string gtsam::serializeValuesXML(const Values& values, const std::string& name) {
  return serializeXML<Values>(values, name);
}

/* ************************************************************************* */
Values::shared_ptr gtsam::deserializeValuesXML(const std::string& serialized_values,
    const std::string& name) {
  Values::shared_ptr result(new Values());
  deserializeXML<Values>(serialized_values, *result, name);
  return result;
}

/* ************************************************************************* */
bool gtsam::serializeGraphToFile(const NonlinearFactorGraph& graph, const std::string& fname) {
  return serializeToFile<NonlinearFactorGraph>(graph, fname);
}

/* ************************************************************************* */
bool gtsam::serializeGraphToXMLFile(const NonlinearFactorGraph& graph,
    const std::string& fname, const std::string& name) {
  return serializeToXMLFile<NonlinearFactorGraph>(graph, fname, name);
}

/* ************************************************************************* */
bool gtsam::serializeValuesToFile(const Values& values, const std::string& fname) {
  return serializeToFile<Values>(values, fname);
}

/* ************************************************************************* */
bool gtsam::serializeValuesToXMLFile(const Values& values,
    const std::string& fname, const std::string& name) {
  return serializeToXMLFile<Values>(values, fname, name);
}

/* ************************************************************************* */
NonlinearFactorGraph::shared_ptr gtsam::deserializeGraphFromFile(const std::string& fname) {
  NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
  if (!deserializeFromFile<NonlinearFactorGraph>(fname, *result))
    throw std::invalid_argument("Failed to open file" + fname);
  return result;
}

/* ************************************************************************* */
NonlinearFactorGraph::shared_ptr gtsam::deserializeGraphFromXMLFile(const std::string& fname,
    const std::string& name) {
  NonlinearFactorGraph::shared_ptr result(new NonlinearFactorGraph());
  if (!deserializeFromXMLFile<NonlinearFactorGraph>(fname, *result, name))
    throw std::invalid_argument("Failed to open file" + fname);
  return result;
}

/* ************************************************************************* */
Values::shared_ptr gtsam::deserializeValuesFromFile(const std::string& fname) {
  Values::shared_ptr result(new Values());
  if (!deserializeFromFile<Values>(fname, *result))
    throw std::invalid_argument("Failed to open file" + fname);
  return result;
}

/* ************************************************************************* */
Values::shared_ptr gtsam::deserializeValuesFromXMLFile(const std::string& fname,
    const std::string& name) {
  Values::shared_ptr result(new Values());
  if (!deserializeFromXMLFile<Values>(fname, *result, name))
    throw std::invalid_argument("Failed to open file" + fname);
  return result;
}

/* ************************************************************************* */