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Hybrid Serialization #1368

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merged 9 commits into from
Jan 4, 2023
Merged

Hybrid Serialization #1368

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99a3fba
DecisionTree serialization
varunagrawal Jan 3, 2023
2653c2f
serialization support for DecisionTreeFactor
varunagrawal Jan 3, 2023
0ab15cc
fix equality of HybridDiscreteFactor and HybridGaussianFactor
varunagrawal Jan 3, 2023
3f2bff8
hybrid serialization tests
varunagrawal Jan 3, 2023
74142e4
GaussianMixture serialization
varunagrawal Jan 3, 2023
2bb4fd6
fix minor bug in HybridConditional and test its serialization
varunagrawal Jan 3, 2023
6fcc087
serialize DiscreteConditional
varunagrawal Jan 3, 2023
230f65d
serialization tests for HybridBayesNet and HybridBayesTree
varunagrawal Jan 3, 2023
4cb910c
move discrete serialization tests to common file to remove export key…
varunagrawal Jan 4, 2023
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serialization tests for HybridBayesNet and HybridBayesTree
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@varunagrawal
varunagrawal committed Jan 3, 2023
commit 230f65dd4496cac516574c713e9f924132e20e88
13 changes: 13 additions & 0 deletions gtsam/hybrid/HybridConditional.h
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Expand Up @@ -188,6 +188,19 @@ class GTSAM_EXPORT HybridConditional
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
ar& BOOST_SERIALIZATION_NVP(inner_);

// register the various casts based on the type of inner_
// https://www.boost.org/doc/libs/1_80_0/libs/serialization/doc/serialization.html#runtimecasting
if (isDiscrete()) {
boost::serialization::void_cast_register<DiscreteConditional, Factor>(
static_cast<DiscreteConditional*>(NULL), static_cast<Factor*>(NULL));
} else if (isContinuous()) {
boost::serialization::void_cast_register<GaussianConditional, Factor>(
static_cast<GaussianConditional*>(NULL), static_cast<Factor*>(NULL));
} else {
boost::serialization::void_cast_register<GaussianMixture, Factor>(
static_cast<GaussianMixture*>(NULL), static_cast<Factor*>(NULL));
}
}

}; // HybridConditional
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16 changes: 0 additions & 16 deletions gtsam/hybrid/tests/testHybridBayesNet.cpp
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Expand Up @@ -18,7 +18,6 @@
* @date December 2021
*/

#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridBayesTree.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
Expand All @@ -31,7 +30,6 @@

using namespace std;
using namespace gtsam;
using namespace gtsam::serializationTestHelpers;

using noiseModel::Isotropic;
using symbol_shorthand::M;
Expand Down Expand Up @@ -330,20 +328,6 @@ TEST(HybridBayesNet, UpdateDiscreteConditionals) {
discrete_conditional_tree->apply(checker);
}

/* ****************************************************************************/
// Test HybridBayesNet serialization.
TEST(HybridBayesNet, Serialization) {
Switching s(4);
Ordering ordering = s.linearizedFactorGraph.getHybridOrdering();
HybridBayesNet hbn = *(s.linearizedFactorGraph.eliminateSequential(ordering));

// TODO(Varun) Serialization of inner factor doesn't work. Requires
// serialization support for all hybrid factors.
// EXPECT(equalsObj<HybridBayesNet>(hbn));
// EXPECT(equalsXML<HybridBayesNet>(hbn));
// EXPECT(equalsBinary<HybridBayesNet>(hbn));
}

/* ****************************************************************************/
// Test HybridBayesNet sampling.
TEST(HybridBayesNet, Sampling) {
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16 changes: 0 additions & 16 deletions gtsam/hybrid/tests/testHybridBayesTree.cpp
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Expand Up @@ -220,22 +220,6 @@ TEST(HybridBayesTree, Choose) {
EXPECT(assert_equal(expected_gbt, gbt));
}

/* ****************************************************************************/
// Test HybridBayesTree serialization.
TEST(HybridBayesTree, Serialization) {
Switching s(4);
Ordering ordering = s.linearizedFactorGraph.getHybridOrdering();
HybridBayesTree hbt =
*(s.linearizedFactorGraph.eliminateMultifrontal(ordering));

using namespace gtsam::serializationTestHelpers;
// TODO(Varun) Serialization of inner factor doesn't work. Requires
// serialization support for all hybrid factors.
// EXPECT(equalsObj<HybridBayesTree>(hbt));
// EXPECT(equalsXML<HybridBayesTree>(hbt));
// EXPECT(equalsBinary<HybridBayesTree>(hbt));
}

/* ************************************************************************* */
int main() {
TestResult tr;
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38 changes: 36 additions & 2 deletions gtsam/hybrid/tests/testSerializationHybrid.cpp
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Expand Up @@ -17,14 +17,19 @@
*/

#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/discrete/DiscreteConditional.h>
#include <gtsam/hybrid/GaussianMixture.h>
#include <gtsam/hybrid/GaussianMixtureFactor.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridBayesTree.h>
#include <gtsam/hybrid/HybridConditional.h>
#include <gtsam/hybrid/HybridDiscreteFactor.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianConditional.h>

#include "Switching.h"

// Include for test suite
#include <CppUnitLite/TestHarness.h>

Expand All @@ -36,15 +41,17 @@ using symbol_shorthand::Z;

using namespace serializationTestHelpers;

BOOST_CLASS_EXPORT_GUID(Factor, "gtsam_Factor");
BOOST_CLASS_EXPORT_GUID(HybridFactor, "gtsam_HybridFactor");
BOOST_CLASS_EXPORT_GUID(JacobianFactor, "gtsam_JacobianFactor");
BOOST_CLASS_EXPORT_GUID(GaussianConditional, "gtsam_GaussianConditional");
BOOST_CLASS_EXPORT_GUID(DiscreteConditional, "gtsam_DiscreteConditional");

BOOST_CLASS_EXPORT_GUID(DecisionTreeFactor, "gtsam_DecisionTreeFactor");
using ADT = AlgebraicDecisionTree<Key>;
BOOST_CLASS_EXPORT_GUID(ADT, "gtsam_AlgebraicDecisionTree");
BOOST_CLASS_EXPORT_GUID(ADT::Leaf, "gtsam_DecisionTree_Leaf");
BOOST_CLASS_EXPORT_GUID(ADT::Choice, "gtsam_DecisionTree_Choice");
BOOST_CLASS_EXPORT_GUID(ADT::Leaf, "gtsam_AlgebraicDecisionTree_Leaf");
BOOST_CLASS_EXPORT_GUID(ADT::Choice, "gtsam_AlgebraicDecisionTree_Choice")

BOOST_CLASS_EXPORT_GUID(GaussianMixtureFactor, "gtsam_GaussianMixtureFactor");
BOOST_CLASS_EXPORT_GUID(GaussianMixtureFactor::Factors,
Expand All @@ -64,6 +71,8 @@ BOOST_CLASS_EXPORT_GUID(GaussianMixture::Conditionals::Choice,
// Needed since GaussianConditional::FromMeanAndStddev uses it
BOOST_CLASS_EXPORT_GUID(noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");

BOOST_CLASS_EXPORT_GUID(HybridBayesNet, "gtsam_HybridBayesNet");

/* ****************************************************************************/
// Test HybridGaussianFactor serialization.
TEST(HybridSerialization, HybridGaussianFactor) {
Expand Down Expand Up @@ -137,6 +146,31 @@ TEST(HybridSerialization, GaussianMixture) {
EXPECT(equalsBinary<GaussianMixture>(gm));
}

/* ****************************************************************************/
// Test HybridBayesNet serialization.
TEST(HybridSerialization, HybridBayesNet) {
Switching s(2);
Ordering ordering = s.linearizedFactorGraph.getHybridOrdering();
HybridBayesNet hbn = *(s.linearizedFactorGraph.eliminateSequential(ordering));

EXPECT(equalsObj<HybridBayesNet>(hbn));
EXPECT(equalsXML<HybridBayesNet>(hbn));
EXPECT(equalsBinary<HybridBayesNet>(hbn));
}

/* ****************************************************************************/
// Test HybridBayesTree serialization.
TEST(HybridSerialization, HybridBayesTree) {
Switching s(2);
Ordering ordering = s.linearizedFactorGraph.getHybridOrdering();
HybridBayesTree hbt =
*(s.linearizedFactorGraph.eliminateMultifrontal(ordering));

EXPECT(equalsObj<HybridBayesTree>(hbt));
EXPECT(equalsXML<HybridBayesTree>(hbt));
EXPECT(equalsBinary<HybridBayesTree>(hbt));
}

/* ************************************************************************* */
int main() {
TestResult tr;
Expand Down