Merge pull request #1409 from kartikarcot/verdant/boost-serialization

borglab · Jan 24, 2023 · dd95757 · dd95757
2 parents 21bd4f7 + 1d7181b
commit dd95757
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Showing 176 changed files with 591 additions and 34 deletions.
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
@@ -29,6 +29,13 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43     "Allow use of methods/functions depr
 option(GTSAM_SUPPORT_NESTED_DISSECTION      "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION         "Use new ImuFactor with integration on tangent space" ON)
 option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
+option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
+
+#TODO(kartikarcot) defining it in config.h.in did not work
+if (GTSAM_ENABLE_BOOST_SERIALIZATION)
+    add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
+endif()
+
 if(NOT MSVC AND NOT XCODE_VERSION)
     option(GTSAM_BUILD_WITH_CCACHE           "Use ccache compiler cache" ON)
 endif()

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -2,4 +2,12 @@ set (excluded_examples
     elaboratePoint2KalmanFilter.cpp
 )
 
+# if GTSAM_ENABLE_BOOST_SERIALIZATION is not set then SolverComparer.cpp will not compile
+if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
+  set (excluded_examples
+    ${excluded_examples}
+    SolverComparer.cpp
+  )
+endif()
+
 gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;gtsam_unstable;${Boost_PROGRAM_OPTIONS_LIBRARY}")
diff --git a/gtsam/base/ConcurrentMap.h b/gtsam/base/ConcurrentMap.h
@@ -48,8 +48,10 @@ using ConcurrentMapBase = gtsam::FastMap<KEY, VALUE>;
 
 #endif
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/split_member.hpp>
+#endif
 #include <boost/static_assert.hpp>
 
 #include <gtsam/base/FastVector.h>
@@ -100,6 +102,7 @@ class ConcurrentMap : public ConcurrentMapBase<KEY,VALUE> {
 #endif
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -120,6 +123,7 @@ class ConcurrentMap : public ConcurrentMapBase<KEY,VALUE> {
     this->insert(map.begin(), map.end());
   }
   BOOST_SERIALIZATION_SPLIT_MEMBER()
+#endif
 };
 
 }
diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h
@@ -21,10 +21,11 @@
 #include <gtsam/base/FastDefaultAllocator.h>
 #include <list>
 #include <boost/utility/enable_if.hpp>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/version.hpp>
-#include <boost/serialization/optional.hpp>
 #include <boost/serialization/list.hpp>
+#endif
 
 namespace gtsam {
 
@@ -76,12 +77,14 @@ class FastList: public std::list<VALUE, typename internal::FastDefaultAllocator<
   }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 
 };
 

diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h
@@ -19,8 +19,10 @@
 #pragma once
 
 #include <gtsam/base/FastDefaultAllocator.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/map.hpp>
+#endif
 #include <map>
 
 namespace gtsam {
@@ -67,12 +69,14 @@ class FastMap : public std::map<KEY, VALUE, std::less<KEY>,
   bool exists(const KEY& e) const { return this->find(e) != this->end(); }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 }
diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h
@@ -19,11 +19,13 @@
 #pragma once
 
 #include <boost/version.hpp>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #if BOOST_VERSION >= 107400
 #include <boost/serialization/library_version_type.hpp>
 #endif
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/set.hpp>
+#endif
 #include <gtsam/base/FastDefaultAllocator.h>
 #include <gtsam/base/Testable.h>
 
@@ -121,12 +123,14 @@ class FastSet: public std::set<VALUE, std::less<VALUE>,
   }
 
 private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
   }
+#endif
 };
 
 }
diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
@@ -175,6 +175,7 @@ class GenericValue: public Value {
 
   private:
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -183,6 +184,7 @@ class GenericValue: public Value {
               boost::serialization::base_object<Value>(*this));
       ar & boost::serialization::make_nvp("value", value_);
 	}
+#endif
 
 
   // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html

diff --git a/gtsam/base/MatrixSerialization.h b/gtsam/base/MatrixSerialization.h
@@ -18,6 +18,8 @@
 
 // \callgraph
 
+// Defined only if boost serialization is enabled
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <gtsam/base/Matrix.h>
@@ -87,3 +89,4 @@ void serialize(Archive& ar, gtsam::Matrix& m, const unsigned int version) {
 
 }  // namespace serialization
 }  // namespace boost
+#endif
diff --git a/gtsam/base/SymmetricBlockMatrix.h b/gtsam/base/SymmetricBlockMatrix.h
@@ -21,7 +21,9 @@
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/types.h>
 #include <gtsam/dllexport.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <cassert>
 #include <stdexcept>
 #include <array>
@@ -384,6 +386,7 @@ namespace gtsam {
     template<typename SymmetricBlockMatrixType> friend class SymmetricBlockMatrixBlockExpr;
 
   private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -396,6 +399,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(variableColOffsets_);
       ar & BOOST_SERIALIZATION_NVP(blockStart_);
     }
+#endif
   };
 
   /// Foward declare exception class

diff --git a/gtsam/base/Value.h b/gtsam/base/Value.h
@@ -21,8 +21,10 @@
 #include <gtsam/config.h>      // Configuration from CMake
 
 #include <gtsam/base/Vector.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/assume_abstract.hpp>
+#endif
 #include <memory>
 
 namespace gtsam {
@@ -119,13 +121,17 @@ namespace gtsam {
      *       The last two links explain why these export lines have to be in the same source module that includes
      *       any of the archive class headers.
      * */
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & /*ar*/, const unsigned int /*version*/) {
     }
+#endif
 
   };
 
 } /* namespace gtsam */
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)
+#endif
diff --git a/gtsam/base/VectorSerialization.h b/gtsam/base/VectorSerialization.h
@@ -16,6 +16,8 @@
  * @date    February 2022
  */
 
+// Defined only if boost serialization is enabled
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <gtsam/base/Vector.h>
@@ -63,3 +65,4 @@ BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
 BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
 BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
 BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)
+#endif
diff --git a/gtsam/base/VerticalBlockMatrix.h b/gtsam/base/VerticalBlockMatrix.h
@@ -219,6 +219,7 @@ namespace gtsam {
     friend class SymmetricBlockMatrix;
 
   private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
@@ -229,6 +230,7 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(rowEnd_);
       ar & BOOST_SERIALIZATION_NVP(blockStart_);
     }
+#endif
   };
 
 }
diff --git a/gtsam/base/serializationTestHelpers.h b/gtsam/base/serializationTestHelpers.h
@@ -17,6 +17,7 @@
  * @date Feb 7, 2012
  */
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <iostream>
@@ -175,3 +176,4 @@ bool equalsDereferencedBinary(const T& input = T()) {
 
 } // \namespace serializationTestHelpers
 } // \namespace gtsam
+#endif
diff --git a/gtsam/base/std_optional_serialization.h b/gtsam/base/std_optional_serialization.h
@@ -9,6 +9,8 @@
 * Inspired from this PR: https://github.com/boostorg/serialization/pull/163
 * ---------------------------------------------------------------------------- */
 
+// Defined only if boost serialization is enabled
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 #include <optional>
 #include <boost/config.hpp>
@@ -97,4 +99,4 @@ void serialize(Archive& ar, std::optional<T>& t, const unsigned int version) {
 
 }  // namespace serialization
 }  // namespace boost
-
+#endif
diff --git a/gtsam/base/tests/CMakeLists.txt b/gtsam/base/tests/CMakeLists.txt
@@ -1 +1,9 @@
-gtsamAddTestsGlob(base "test*.cpp" "" "gtsam")
+# if GTSAM_ENABLE_BOOST_SERIALIZATION is OFF then exclude some tests
+if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
+  # create a semicolon seperated list of files to exclude
+  set(EXCLUDE_TESTS "testSerializationBase.cpp" "testStdOptionalSerialization.cpp")
+else()
+  set(EXCLUDE_TESTS "")
+endif()
+
+gtsamAddTestsGlob(base "test*.cpp" "${EXCLUDE_TESTS}" "gtsam")
diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h
@@ -23,6 +23,7 @@
 
 #include <boost/version.hpp>
 
+#include <memory>
 #include <cstddef>
 #include <string>
 

diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h
@@ -28,6 +28,7 @@
 #include <vector>
 #include <string>
 #include <memory>
+#include <cassert>
 
 namespace gtsam {
 

diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
@@ -154,6 +154,7 @@ namespace gtsam {
    private:
     using Base = DecisionTree<L, Y>::Node;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -162,6 +163,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_NVP(constant_);
       ar& BOOST_SERIALIZATION_NVP(nrAssignments_);
     }
+#endif
   };  // Leaf
 
   /****************************************************************************/
@@ -443,6 +445,7 @@ namespace gtsam {
    private:
     using Base = DecisionTree<L, Y>::Node;
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -452,6 +455,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_NVP(branches_);
       ar& BOOST_SERIALIZATION_NVP(allSame_);
     }
+#endif
   };  // Choice
 
   /****************************************************************************/

diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
@@ -23,7 +23,9 @@
 #include <gtsam/base/types.h>
 #include <gtsam/discrete/Assignment.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
+#endif
 #include <memory>
 #include <functional>
 #include <iostream>
@@ -117,10 +119,12 @@ namespace gtsam {
       virtual bool isLeaf() const = 0;
 
      private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template <class ARCHIVE>
       void serialize(ARCHIVE& ar, const unsigned int /*version*/) {}
+#endif
     };
     /** ------------------------ Node base class --------------------------- */
 
@@ -374,12 +378,14 @@ namespace gtsam {
     /// @}
 
    private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
       ar& BOOST_SERIALIZATION_NVP(root_);
     }
+#endif
   };  // DecisionTree
 
   template <class L, class Y>

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
@@ -253,6 +253,7 @@ namespace gtsam {
   /// @}
 
    private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -261,6 +262,7 @@ namespace gtsam {
       ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ADT);
       ar& BOOST_SERIALIZATION_NVP(cardinalities_);
     }
+#endif
   };
 
 // traits