add array saveTree loadTree

Author: dehann

src/JunctionTree.jl

@@ -1505,7 +1505,9 @@ Related
 
 IIF.loadTree, DFG.saveDFG, DFG.loadDFG, JLD2.@save, JLD2.@load
 """
-function saveTree(treel::BayesTree, filepath=joinpath("/tmp","caesar","savetree.jld2"))
+function saveTree(treel::BayesTree,
+                  filepath=joinpath("/tmp","caesar","savetree.jld2") )
+  #
   savetree = deepcopy(treel)
   for i in 1:length(savetree.cliques)
     if  savetree.cliques[i].attributes["data"] isa BayesTreeNodeData
@@ -1517,6 +1519,20 @@ function saveTree(treel::BayesTree, filepath=joinpath("/tmp","caesar","savetree.
   return filepath
 end
 
+function saveTree(treeArr::Vector{BayesTree},
+                  filepath=joinpath("/tmp","caesar","savetrees.jld2") )
+  #
+  savetree = deepcopy(treeArr)
+  for savtre in savetree, i in 1:length(savtre.cliques)
+    if savtre.cliques[i].attributes["data"] isa BayesTreeNodeData
+      savtre.cliques[i].attributes["data"] = convert(PackedBayesTreeNodeData, savtre.cliques[i].attributes["data"])
+    end
+  end
+
+  JLD2.@save filepath savetree
+  return filepath
+end
+
 """
     $SIGNATURES
 
@@ -1534,9 +1550,17 @@ function loadTree(filepath=joinpath("/tmp","caesar","savetree.jld2"))
   data = @load filepath savetree
 
   # convert back to a type that which could not be serialized by JLD2
-  for i in 1:length(savetree.cliques)
-    if  savetree.cliques[i].attributes["data"] isa PackedBayesTreeNodeData
-      savetree.cliques[i].attributes["data"] = convert(BayesTreeNodeData, savetree.cliques[i].attributes["data"])
+  if savetree isa Vector
+      for savtre in savetree, i in 1:length(savtre.cliques)
+        if savtre.cliques[i].attributes["data"] isa PackedBayesTreeNodeData
+          savtre.cliques[i].attributes["data"] = convert(BayesTreeNodeData, savtre.cliques[i].attributes["data"])
+        end
+      end
+  else
+    for i in 1:length(savetree.cliques)
+      if savetree.cliques[i].attributes["data"] isa PackedBayesTreeNodeData
+        savetree.cliques[i].attributes["data"] = convert(BayesTreeNodeData, savetree.cliques[i].attributes["data"])
+      end
     end
   end
 

test/testTreeSaveLoad.jl

@@ -26,3 +26,28 @@ using IncrementalInference
     end
 
 end
+
+
+@testset "Test loading and saving of Bayes (Junction) tree" begin
+
+    fg = loadCanonicalFG_Kaess(graphinit=false)
+    tree = wipeBuildNewTree!(fg)
+
+    # save and load tree as array
+    filepath = saveTree([tree;deepcopy(tree)])
+    trees = loadTree(filepath)
+
+    # perform a few spot checks to see that the trees are similar
+    @test length(tree.cliques) == length(trees[1].cliques)
+    @test getVariableOrder(tree) == getVariableOrder(trees[1])
+
+    for (clid,cl) in tree.cliques
+      fsyms = getFrontals(cl)
+      cl2 = getCliq(trees[1], fsyms[1])
+      fsyms2 = getFrontals(cl2)
+      @test fsyms == fsyms2
+      @test getCliqSeparatorVarIds(cl) == getCliqSeparatorVarIds(cl2)
+      @test typeof(cl) == typeof(cl2)
+    end
+
+end