212 lines
7.6 KiB
C++
212 lines
7.6 KiB
C++
/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt-headers.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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@file
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@brief Serialization for Eigen and Sophus types
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*/
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#pragma once
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#include <Eigen/Dense>
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#include <sophus/se3.hpp>
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#include <sophus/sim3.hpp>
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#include <cereal/archives/binary.hpp>
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#include <cereal/archives/json.hpp>
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namespace cereal {
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// NOTE: Serialization functions for non-basalt types (for now Eigen and Sophus)
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// are provided in a separate header to make them available to other libraries
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// depending on basalt-headers. Beware that it is not possible to have different
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// and incompatible definitions for these same types in other libraries or
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// executables that also include basalt-headers, as this would lead to undefined
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// behaviour. See
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// https://groups.google.com/d/topic/cerealcpp/WswQi_Sh-bw/discussion for a more
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// detailed discussion and possible workarounds.
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// For binary-archives, don't save a size tag for compact representation.
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template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
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int _MaxRows, int _MaxCols>
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std::enable_if_t<(_Rows > 0) && (_Cols > 0) &&
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!traits::is_text_archive<Archive>::value>
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serialize(
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Archive& archive,
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Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& m) {
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for (int i = 0; i < _Rows; i++) {
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for (int j = 0; j < _Cols; j++) {
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archive(m(i, j));
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}
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}
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// Note: if we can break binary compatibility, we might want to consider the
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// following. However, this would only work for compact Scalar types that can
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// be serialized / deserialized by memcopy, such as double.
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// archive(binary_data(m.data(), _Rows * _Cols * sizeof(_Scalar)));
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}
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// For text-archives, save size-tag even for constant size matrices, to ensure
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// that the serialization is more compact (e.g. for JSON with size tag is uses a
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// simple array, whereas without, it stores a list of pairs like ("value0", v0).
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template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
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int _MaxRows, int _MaxCols>
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std::enable_if_t<(_Rows > 0) && (_Cols > 0) &&
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traits::is_text_archive<Archive>::value>
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serialize(
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Archive& archive,
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Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& m) {
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size_type s = static_cast<size_type>(_Rows * _Cols);
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archive(make_size_tag(s));
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if (s != _Rows * _Cols) {
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throw std::runtime_error("matrix has incorrect length");
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}
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for (size_t i = 0; i < _Rows; i++) {
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for (size_t j = 0; j < _Cols; j++) {
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archive(m(i, j));
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}
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}
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}
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template <class Archive, class _Scalar, int _Cols, int _Options, int _MaxRows,
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int _MaxCols>
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std::enable_if_t<(_Cols > 0), void> save(
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Archive& archive, const Eigen::Matrix<_Scalar, Eigen::Dynamic, _Cols,
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_Options, _MaxRows, _MaxCols>& m) {
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archive(make_size_tag(static_cast<size_type>(m.size())));
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for (int i = 0; i < m.rows(); i++) {
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for (int j = 0; j < _Cols; j++) {
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archive(m(i, j));
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}
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}
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}
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template <class Archive, class _Scalar, int _Cols, int _Options, int _MaxRows,
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int _MaxCols>
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std::enable_if_t<(_Cols > 0), void> load(
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Archive& archive,
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Eigen::Matrix<_Scalar, Eigen::Dynamic, _Cols, _Options, _MaxRows, _MaxCols>&
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m) {
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size_type size;
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archive(make_size_tag(size));
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m.resize(Eigen::Index(size) / _Cols, _Cols);
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for (int i = 0; i < m.rows(); i++) {
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for (int j = 0; j < _Cols; j++) {
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archive(m(i, j));
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}
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}
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}
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template <class Archive, class _Scalar, int _Rows, int _Options, int _MaxRows,
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int _MaxCols>
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std::enable_if_t<(_Rows > 0), void> save(
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Archive& archive, const Eigen::Matrix<_Scalar, _Rows, Eigen::Dynamic,
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_Options, _MaxRows, _MaxCols>& m) {
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archive(make_size_tag(static_cast<size_type>(m.size())));
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for (int i = 0; i < _Rows; i++) {
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for (int j = 0; j < m.cols(); j++) {
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archive(m(i, j));
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}
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}
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}
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template <class Archive, class _Scalar, int _Rows, int _Options, int _MaxRows,
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int _MaxCols>
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std::enable_if_t<(_Rows > 0), void> load(
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Archive& archive,
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Eigen::Matrix<_Scalar, _Rows, Eigen::Dynamic, _Options, _MaxRows, _MaxCols>&
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m) {
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size_type size;
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archive(make_size_tag(size));
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m.resize(_Rows, Eigen::Index(size) / _Rows);
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for (int i = 0; i < _Rows; i++) {
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for (int j = 0; j < m.cols(); j++) {
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archive(m(i, j));
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}
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}
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}
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template <class Archive, class _Scalar, int _Options, int _MaxRows,
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int _MaxCols>
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void save(Archive& archive,
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const Eigen::Matrix<_Scalar, Eigen::Dynamic, Eigen::Dynamic, _Options,
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_MaxRows, _MaxCols>& m) {
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archive(make_size_tag(static_cast<size_type>(m.rows())));
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archive(make_size_tag(static_cast<size_type>(m.cols())));
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for (int i = 0; i < m.rows(); i++) {
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for (int j = 0; j < m.cols(); j++) {
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archive(m(i, j));
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}
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}
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}
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template <class Archive, class _Scalar, int _Options, int _MaxRows,
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int _MaxCols>
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void load(Archive& archive,
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Eigen::Matrix<_Scalar, Eigen::Dynamic, Eigen::Dynamic, _Options,
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_MaxRows, _MaxCols>& m) {
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size_type rows;
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size_type cols;
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archive(make_size_tag(rows));
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archive(make_size_tag(cols));
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m.resize(rows, cols);
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for (int i = 0; i < m.rows(); i++) {
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for (int j = 0; j < m.cols(); j++) {
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archive(m(i, j));
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}
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}
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}
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template <class Archive>
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void serialize(Archive& ar, Sophus::SE3d& p) {
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ar(cereal::make_nvp("px", p.translation()[0]),
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cereal::make_nvp("py", p.translation()[1]),
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cereal::make_nvp("pz", p.translation()[2]),
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cereal::make_nvp("qx", p.so3().data()[0]),
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cereal::make_nvp("qy", p.so3().data()[1]),
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cereal::make_nvp("qz", p.so3().data()[2]),
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cereal::make_nvp("qw", p.so3().data()[3]));
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}
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template <class Archive>
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void serialize(Archive& ar, Sophus::Sim3d& p) {
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ar(cereal::make_nvp("px", p.translation()[0]),
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cereal::make_nvp("py", p.translation()[1]),
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cereal::make_nvp("pz", p.translation()[2]),
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cereal::make_nvp("qx", p.rxso3().data()[0]),
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cereal::make_nvp("qy", p.rxso3().data()[1]),
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cereal::make_nvp("qz", p.rxso3().data()[2]),
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cereal::make_nvp("qw", p.rxso3().data()[3]));
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}
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} // namespace cereal
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