A C++ library offering a GTSAM ⇆ mrpt-serialization bridge.
This library offers efficient, binary serialization of GTSAM data structures, including whole NonLinearFactorGraphs and Values.
Storage format has the advantages of mrpt-serialization:
- Fast and efficient (binary storage by default).
- Binary files are portable between machine architectures, endianness, word size, and operative system (unlike Boost).
- Support for versioning, so future versions will be able to read old files.
- Automatic support for
.gzcompression via mrpt::io::CFileGZOutputStream. - GTSAM objects can be serialized to/from any stream defined in mrpt-io, like TCP sockets, files, or pipes.
C++17 is required since that is the minimum C++ standard required by MRPT.
- MRPT: Install with
sudo apt install libmrpt-dev(on Ubuntu 22.04 or newer) or otherwise see install instructions. - GTSAM: Build from sources or install from the PPA.
See gtsam2mrpt_serial/tests/main.cpp.
Simple performance profiling shows an average time cost of roughly 50% the native Boost binary serialization mechanism for mid-sized graphs.
The following quantitative analysis was done with this code, on an Ubuntu 20.04 (Boost 1.71, MRPT 2.4.4) and a Intel(R) Core(TM) i7-6700HQ CPU @ 2.60GHz CPU. Note that the time scale is logarithmic.
