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deprecate SimpleCamera tests

release/4.3a0
Varun Agrawal 2020-11-30 06:44:45 -05:00
parent e4c738dabf
commit 2703307a43
3 changed files with 36 additions and 24 deletions
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4
gtsam/geometry/tests/testSimpleCamera.cpp
View File

@ -26,6 +26,8 @@
using namespace std;
using namespace gtsam;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
static const Cal3_S2 K(625, 625, 0, 0, 0);
static const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()),
@ -149,6 +151,8 @@ TEST( SimpleCamera, simpleCamera)
CHECK(assert_equal(expected, actual,1e-1));
}
#endif
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */

27
gtsam_unstable/slam/serialization.cpp
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@ -43,7 +43,6 @@ typedef PriorFactor<Pose3> PriorFactorPose3;
typedef PriorFactor<Cal3_S2> PriorFactorCal3_S2;
typedef PriorFactor<Cal3DS2> PriorFactorCal3DS2;
typedef PriorFactor<CalibratedCamera> PriorFactorCalibratedCamera;
typedef PriorFactor<SimpleCamera> PriorFactorSimpleCamera;
typedef PriorFactor<PinholeCameraCal3_S2> PriorFactorPinholeCameraCal3_S2;
typedef PriorFactor<StereoCamera> PriorFactorStereoCamera;
@ -68,7 +67,6 @@ typedef NonlinearEquality<Pose3> NonlinearEqualityPose3;
typedef NonlinearEquality<Cal3_S2> NonlinearEqualityCal3_S2;
typedef NonlinearEquality<Cal3DS2> NonlinearEqualityCal3DS2;
typedef NonlinearEquality<CalibratedCamera> NonlinearEqualityCalibratedCamera;
typedef NonlinearEquality<SimpleCamera> NonlinearEqualitySimpleCamera;
typedef NonlinearEquality<PinholeCameraCal3_S2> NonlinearEqualityPinholeCameraCal3_S2;
typedef NonlinearEquality<StereoCamera> NonlinearEqualityStereoCamera;
@ -77,10 +75,8 @@ typedef RangeFactor<Pose3, Point3> RangeFactor3D;
typedef RangeFactor<Pose2, Pose2> RangeFactorPose2;
typedef RangeFactor<Pose3, Pose3> RangeFactorPose3;
typedef RangeFactor<CalibratedCamera, Point3> RangeFactorCalibratedCameraPoint;
typedef RangeFactor<SimpleCamera, Point3> RangeFactorSimpleCameraPoint;
typedef RangeFactor<PinholeCameraCal3_S2, Point3> RangeFactorPinholeCameraCal3_S2Point;
typedef RangeFactor<CalibratedCamera, CalibratedCamera> RangeFactorCalibratedCamera;
typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
typedef RangeFactor<PinholeCameraCal3_S2, PinholeCameraCal3_S2> RangeFactorPinholeCameraCal3_S2;
typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D;
@ -90,6 +86,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO fix issue 621
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
@ -129,7 +126,6 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
GTSAM_VALUE_EXPORT(gtsam::Cal3DS2);
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo);
GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera);
GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2);
GTSAM_VALUE_EXPORT(gtsam::StereoCamera);
@ -150,7 +146,6 @@ BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3");
BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2");
BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera");
BOOST_CLASS_EXPORT_GUID(BetweenFactorLieVector, "gtsam::BetweenFactorLieVector");
@ -174,7 +169,6 @@ BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D");
@ -182,9 +176,7 @@ BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");
@ -192,12 +184,29 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
//TODO Fix issue 621
//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");
BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D");
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
typedef PriorFactor<SimpleCamera> PriorFactorSimpleCamera;
typedef NonlinearEquality<SimpleCamera> NonlinearEqualitySimpleCamera;
typedef RangeFactor<SimpleCamera, Point3> RangeFactorSimpleCameraPoint;
typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
#endif
/* ************************************************************************* */
// Actual implementations of functions
/* ************************************************************************* */

29
tests/testSerializationSLAM.cpp
View File

@ -89,10 +89,8 @@ typedef RangeFactor<Pose3, Point3> RangeFactor3D;
typedef RangeFactor<Pose2, Pose2> RangeFactorPose2;
typedef RangeFactor<Pose3, Pose3> RangeFactorPose3;
typedef RangeFactor<CalibratedCamera, Point3> RangeFactorCalibratedCameraPoint;
typedef RangeFactor<SimpleCamera, Point3> RangeFactorSimpleCameraPoint;
typedef RangeFactor<PinholeCameraCal3_S2, Point3> RangeFactorPinholeCameraCal3_S2Point;
typedef RangeFactor<CalibratedCamera, CalibratedCamera> RangeFactorCalibratedCamera;
typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
typedef RangeFactor<PinholeCameraCal3_S2, PinholeCameraCal3_S2> RangeFactorPinholeCameraCal3_S2;
typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D;
@ -102,6 +100,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO Fix issue 621 for this to work
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
@ -145,7 +144,6 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
GTSAM_VALUE_EXPORT(gtsam::Cal3DS2);
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo);
GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera);
GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2);
GTSAM_VALUE_EXPORT(gtsam::StereoCamera);
@ -190,9 +188,9 @@ BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2Point, "gtsam::RangeFactorPinholeCameraCal3_S2Point");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2, "gtsam::RangeFactorPinholeCameraCal3_S2");
BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");
@ -200,6 +198,7 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
//TODO fix issue 621
//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");
@ -352,9 +351,9 @@ TEST (testSerializationSLAM, factors) {
RangeFactorPose2 rangeFactorPose2(a08, b08, 2.0, model1);
RangeFactorPose3 rangeFactorPose3(a09, b09, 2.0, model1);
RangeFactorCalibratedCameraPoint rangeFactorCalibratedCameraPoint(a12, a05, 2.0, model1);
RangeFactorSimpleCameraPoint rangeFactorSimpleCameraPoint(a13, a05, 2.0, model1);
RangeFactorPinholeCameraCal3_S2Point rangeFactorPinholeCameraCal3_S2Point(a13, a05, 2.0, model1);
RangeFactorCalibratedCamera rangeFactorCalibratedCamera(a12, b12, 2.0, model1);
RangeFactorSimpleCamera rangeFactorSimpleCamera(a13, b13, 2.0, model1);
RangeFactorPinholeCameraCal3_S2 rangeFactorPinholeCameraCal3_S2(a13, b13, 2.0, model1);
BearingRangeFactor2D bearingRangeFactor2D(a08, a03, rot2, 2.0, model2);
@ -405,9 +404,9 @@ TEST (testSerializationSLAM, factors) {
graph += rangeFactorPose2;
graph += rangeFactorPose3;
graph += rangeFactorCalibratedCameraPoint;
graph += rangeFactorSimpleCameraPoint;
graph += rangeFactorPinholeCameraCal3_S2Point;
graph += rangeFactorCalibratedCamera;
graph += rangeFactorSimpleCamera;
graph += rangeFactorPinholeCameraCal3_S2;
graph += bearingRangeFactor2D;
@ -463,9 +462,9 @@ TEST (testSerializationSLAM, factors) {
EXPECT(equalsObj<RangeFactorPose2>(rangeFactorPose2));
EXPECT(equalsObj<RangeFactorPose3>(rangeFactorPose3));
EXPECT(equalsObj<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
EXPECT(equalsObj<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
EXPECT(equalsObj<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
EXPECT(equalsObj<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
EXPECT(equalsObj<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
EXPECT(equalsObj<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
EXPECT(equalsObj<BearingRangeFactor2D>(bearingRangeFactor2D));
@ -521,9 +520,9 @@ TEST (testSerializationSLAM, factors) {
EXPECT(equalsXML<RangeFactorPose2>(rangeFactorPose2));
EXPECT(equalsXML<RangeFactorPose3>(rangeFactorPose3));
EXPECT(equalsXML<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
EXPECT(equalsXML<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
EXPECT(equalsXML<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
EXPECT(equalsXML<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
EXPECT(equalsXML<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
EXPECT(equalsXML<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
EXPECT(equalsXML<BearingRangeFactor2D>(bearingRangeFactor2D));
@ -579,9 +578,9 @@ TEST (testSerializationSLAM, factors) {
EXPECT(equalsBinary<RangeFactorPose2>(rangeFactorPose2));
EXPECT(equalsBinary<RangeFactorPose3>(rangeFactorPose3));
EXPECT(equalsBinary<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
EXPECT(equalsBinary<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
EXPECT(equalsBinary<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
EXPECT(equalsBinary<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
EXPECT(equalsBinary<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
EXPECT(equalsBinary<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
EXPECT(equalsBinary<BearingRangeFactor2D>(bearingRangeFactor2D));