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fixed serialization tests

release/4.3a0
Mike Bosse 2014-12-23 12:35:49 +01:00
parent c6ae119414
commit 52ec4f0784
9 changed files with 83 additions and 82 deletions
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32
examples/SolverComparer.cpp
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@ -72,22 +72,22 @@ typedef NoiseModelFactor1<Pose> NM1;
typedef NoiseModelFactor2<Pose,Pose> NM2;
typedef BearingRangeFactor<Pose,Point2> BR;
BOOST_CLASS_EXPORT(Value);
BOOST_CLASS_EXPORT(Pose);
BOOST_CLASS_EXPORT(Rot2);
BOOST_CLASS_EXPORT(Point2);
BOOST_CLASS_EXPORT(NonlinearFactor);
BOOST_CLASS_EXPORT(NoiseModelFactor);
BOOST_CLASS_EXPORT(NM1);
BOOST_CLASS_EXPORT(NM2);
BOOST_CLASS_EXPORT(BetweenFactor<Pose>);
BOOST_CLASS_EXPORT(PriorFactor<Pose>);
BOOST_CLASS_EXPORT(BR);
BOOST_CLASS_EXPORT(noiseModel::Base);
BOOST_CLASS_EXPORT(noiseModel::Isotropic);
BOOST_CLASS_EXPORT(noiseModel::Gaussian);
BOOST_CLASS_EXPORT(noiseModel::Diagonal);
BOOST_CLASS_EXPORT(noiseModel::Unit);
GTSAM_VALUE_EXPORT(Value);
GTSAM_VALUE_EXPORT(Pose);
GTSAM_VALUE_EXPORT(Rot2);
GTSAM_VALUE_EXPORT(Point2);
GTSAM_VALUE_EXPORT(NonlinearFactor);
GTSAM_VALUE_EXPORT(NoiseModelFactor);
GTSAM_VALUE_EXPORT(NM1);
GTSAM_VALUE_EXPORT(NM2);
GTSAM_VALUE_EXPORT(BetweenFactor<Pose>);
GTSAM_VALUE_EXPORT(PriorFactor<Pose>);
GTSAM_VALUE_EXPORT(BR);
GTSAM_VALUE_EXPORT(noiseModel::Base);
GTSAM_VALUE_EXPORT(noiseModel::Isotropic);
GTSAM_VALUE_EXPORT(noiseModel::Gaussian);
GTSAM_VALUE_EXPORT(noiseModel::Diagonal);
GTSAM_VALUE_EXPORT(noiseModel::Unit);
double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) {
// Compute degrees of freedom (observations - variables)

3
gtsam/base/GenericValue.h
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@ -253,6 +253,9 @@ public:
ar & boost::serialization::make_nvp("value", value_);
}
/// use this macro instead of BOOST_CLASS_EXPORT for GenericValues
#define GTSAM_VALUE_EXPORT(Type) BOOST_CLASS_EXPORT(GenericValue<Type>)
};
// define Value::cast here since now GenericValue has been declared

3
gtsam/base/Value.h
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@ -168,7 +168,8 @@ namespace gtsam {
* */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {}
void serialize(ARCHIVE & ar, const unsigned int version) {
}
};

2
gtsam/linear/ConjugateGradientSolver.h
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@ -149,6 +149,8 @@ V preconditionedConjugateGradient(const S &system, const V &initial, const Conju
<< ", alpha = " << alpha
<< ", beta = " << beta
<< ", ||r||^2 = " << currentGamma
// << "\nx =\n" << estimate
// << "\nr =\n" << residual
<< std::endl;
}
if (parameters.verbosity() >= ConjugateGradientParameters::COMPLEXITY )

26
gtsam/nonlinear/tests/testSerializationNonlinear.cpp
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@ -32,14 +32,14 @@ using namespace gtsam::serializationTestHelpers;
/* ************************************************************************* */
// Export all classes derived from Value
BOOST_CLASS_EXPORT(gtsam::Cal3_S2);
BOOST_CLASS_EXPORT(gtsam::Cal3Bundler);
BOOST_CLASS_EXPORT(gtsam::Point3);
BOOST_CLASS_EXPORT(gtsam::Pose3);
BOOST_CLASS_EXPORT(gtsam::Rot3);
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3_S2>);
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3DS2>);
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3Bundler>);
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
GTSAM_VALUE_EXPORT(gtsam::Cal3Bundler);
GTSAM_VALUE_EXPORT(gtsam::Point3);
GTSAM_VALUE_EXPORT(gtsam::Pose3);
GTSAM_VALUE_EXPORT(gtsam::Rot3);
GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3_S2>);
GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3DS2>);
GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3Bundler>);
namespace detail {
template<class T> struct pack {
@ -62,27 +62,21 @@ static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0);
static Cal3Bundler cal3(1.0, 2.0, 3.0);
TEST (Serialization, TemplatedValues) {
std::cout << __LINE__ << std::endl;
EXPECT(equalsObj(pt3));
std::cout << __LINE__ << std::endl;
GenericValue<Point3> chv1(pt3);
std::cout << __LINE__ << std::endl;
EXPECT(equalsObj(chv1));
std::cout << __LINE__ << std::endl;
PinholeCal3S2 pc(pose3,cal1);
EXPECT(equalsObj(pc));
std::cout << __LINE__ << std::endl;
Values values;
values.insert(1,pt3);
std::cout << __LINE__ << std::endl;
EXPECT(equalsObj(values));
std::cout << __LINE__ << std::endl;
values.insert(Symbol('a',0), PinholeCal3S2(pose3, cal1));
values.insert(Symbol('s',5), PinholeCal3DS2(pose3, cal2));
values.insert(Symbol('d',47), PinholeCal3Bundler(pose3, cal3));
values.insert(Symbol('a',5), PinholeCal3S2(pose3, cal1));
EXPECT(equalsObj(values));
std::cout << __LINE__ << std::endl;
EXPECT(equalsXML(values));
EXPECT(equalsBinary(values));
}

30
gtsam_unstable/slam/serialization.cpp
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@ -117,21 +117,21 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
/* Create GUIDs for geometry */
/* ************************************************************************* */
BOOST_CLASS_EXPORT(gtsam::LieVector);
BOOST_CLASS_EXPORT(gtsam::LieMatrix);
BOOST_CLASS_EXPORT(gtsam::Point2);
BOOST_CLASS_EXPORT(gtsam::StereoPoint2);
BOOST_CLASS_EXPORT(gtsam::Point3);
BOOST_CLASS_EXPORT(gtsam::Rot2);
BOOST_CLASS_EXPORT(gtsam::Rot3);
BOOST_CLASS_EXPORT(gtsam::Pose2);
BOOST_CLASS_EXPORT(gtsam::Pose3);
BOOST_CLASS_EXPORT(gtsam::Cal3_S2);
BOOST_CLASS_EXPORT(gtsam::Cal3DS2);
BOOST_CLASS_EXPORT(gtsam::Cal3_S2Stereo);
BOOST_CLASS_EXPORT(gtsam::CalibratedCamera);
BOOST_CLASS_EXPORT(gtsam::SimpleCamera);
BOOST_CLASS_EXPORT(gtsam::StereoCamera);
GTSAM_VALUE_EXPORT(gtsam::LieVector);
GTSAM_VALUE_EXPORT(gtsam::LieMatrix);
GTSAM_VALUE_EXPORT(gtsam::Point2);
GTSAM_VALUE_EXPORT(gtsam::StereoPoint2);
GTSAM_VALUE_EXPORT(gtsam::Point3);
GTSAM_VALUE_EXPORT(gtsam::Rot2);
GTSAM_VALUE_EXPORT(gtsam::Rot3);
GTSAM_VALUE_EXPORT(gtsam::Pose2);
GTSAM_VALUE_EXPORT(gtsam::Pose3);
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::StereoCamera);
/* Create GUIDs for factors */
/* ************************************************************************* */

11
tests/testPreconditioner.cpp
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@ -87,18 +87,19 @@ TEST(PCGSolver, simpleLinearSystem) {
simpleGFG += JacobianFactor(0, (Matrix(2,2)<< 1, 0, 0, 1).finished(), (Vector(2) << 0, 0).finished(), unit2);
simpleGFG += JacobianFactor(1, (Matrix(2,2)<< 1, 0, 0, 1).finished(), (Vector(2) << 0, 0).finished(), unit2);
simpleGFG += JacobianFactor(2, (Matrix(2,2)<< 1, 0, 0, 1).finished(), (Vector(2) << 0, 0).finished(), unit2);
simpleGFG.print("system");
// Expected solution
VectorValues expectedSolution;
expectedSolution.insert(0, (Vector(2) << 0.100498, -0.196756).finished());
expectedSolution.insert(2, (Vector(2) << -0.0990413, -0.0980577).finished());
expectedSolution.insert(1, (Vector(2) << -0.0973252, 0.100582).finished());
//expectedSolution.print("Expected");
expectedSolution.print("Expected");
// Solve the system using direct method
VectorValues deltaDirect = simpleGFG.optimize();
EXPECT(assert_equal(expectedSolution, deltaDirect, 1e-5));
//deltaDirect.print("Direct");
deltaDirect.print("Direct");
// Solve the system using Preconditioned Conjugate Gradient solver
// Common PCG parameters
@ -106,19 +107,19 @@ TEST(PCGSolver, simpleLinearSystem) {
pcg->setMaxIterations(500);
pcg->setEpsilon_abs(0.0);
pcg->setEpsilon_rel(0.0);
//pcg->setVerbosity("ERROR");
pcg->setVerbosity("ERROR");
// With Dummy preconditioner
pcg->preconditioner_ = boost::make_shared<gtsam::DummyPreconditionerParameters>();
VectorValues deltaPCGDummy = PCGSolver(*pcg).optimize(simpleGFG);
EXPECT(assert_equal(expectedSolution, deltaPCGDummy, 1e-5));
//deltaPCGDummy.print("PCG Dummy");
deltaPCGDummy.print("PCG Dummy");
// With Block-Jacobi preconditioner
pcg->preconditioner_ = boost::make_shared<gtsam::BlockJacobiPreconditionerParameters>();
VectorValues deltaPCGJacobi = PCGSolver(*pcg).optimize(simpleGFG);
EXPECT(assert_equal(expectedSolution, deltaPCGJacobi, 1e-5));
//deltaPCGJacobi.print("PCG Jacobi");
deltaPCGJacobi.print("PCG Jacobi");
}

30
tests/testSerializationSLAM.cpp
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@ -148,21 +148,21 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
/* Create GUIDs for geometry */
/* ************************************************************************* */
BOOST_CLASS_EXPORT(gtsam::LieVector);
BOOST_CLASS_EXPORT(gtsam::LieMatrix);
BOOST_CLASS_EXPORT(gtsam::Point2);
BOOST_CLASS_EXPORT(gtsam::StereoPoint2);
BOOST_CLASS_EXPORT(gtsam::Point3);
BOOST_CLASS_EXPORT(gtsam::Rot2);
BOOST_CLASS_EXPORT(gtsam::Rot3);
BOOST_CLASS_EXPORT(gtsam::Pose2);
BOOST_CLASS_EXPORT(gtsam::Pose3);
BOOST_CLASS_EXPORT(gtsam::Cal3_S2);
BOOST_CLASS_EXPORT(gtsam::Cal3DS2);
BOOST_CLASS_EXPORT(gtsam::Cal3_S2Stereo);
BOOST_CLASS_EXPORT(gtsam::CalibratedCamera);
BOOST_CLASS_EXPORT(gtsam::SimpleCamera);
BOOST_CLASS_EXPORT(gtsam::StereoCamera);
GTSAM_VALUE_EXPORT(gtsam::LieVector);
GTSAM_VALUE_EXPORT(gtsam::LieMatrix);
GTSAM_VALUE_EXPORT(gtsam::Point2);
GTSAM_VALUE_EXPORT(gtsam::StereoPoint2);
GTSAM_VALUE_EXPORT(gtsam::Point3);
GTSAM_VALUE_EXPORT(gtsam::Rot2);
GTSAM_VALUE_EXPORT(gtsam::Rot3);
GTSAM_VALUE_EXPORT(gtsam::Pose2);
GTSAM_VALUE_EXPORT(gtsam::Pose3);
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::StereoCamera);
/* Create GUIDs for factors */
/* ************************************************************************* */

28
timing/timeIncremental.cpp
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@ -39,20 +39,20 @@ typedef NoiseModelFactor1<Pose> NM1;
typedef NoiseModelFactor2<Pose,Pose> NM2;
typedef BearingRangeFactor<Pose,Point2> BR;
BOOST_CLASS_EXPORT(Value);
BOOST_CLASS_EXPORT(Pose);
BOOST_CLASS_EXPORT(NonlinearFactor);
BOOST_CLASS_EXPORT(NoiseModelFactor);
BOOST_CLASS_EXPORT(NM1);
BOOST_CLASS_EXPORT(NM2);
BOOST_CLASS_EXPORT(BetweenFactor<Pose>);
BOOST_CLASS_EXPORT(PriorFactor<Pose>);
BOOST_CLASS_EXPORT(BR);
BOOST_CLASS_EXPORT(noiseModel::Base);
BOOST_CLASS_EXPORT(noiseModel::Isotropic);
BOOST_CLASS_EXPORT(noiseModel::Gaussian);
BOOST_CLASS_EXPORT(noiseModel::Diagonal);
BOOST_CLASS_EXPORT(noiseModel::Unit);
GTSAM_VALUE_EXPORT(Value);
GTSAM_VALUE_EXPORT(Pose);
GTSAM_VALUE_EXPORT(NonlinearFactor);
GTSAM_VALUE_EXPORT(NoiseModelFactor);
GTSAM_VALUE_EXPORT(NM1);
GTSAM_VALUE_EXPORT(NM2);
GTSAM_VALUE_EXPORT(BetweenFactor<Pose>);
GTSAM_VALUE_EXPORT(PriorFactor<Pose>);
GTSAM_VALUE_EXPORT(BR);
GTSAM_VALUE_EXPORT(noiseModel::Base);
GTSAM_VALUE_EXPORT(noiseModel::Isotropic);
GTSAM_VALUE_EXPORT(noiseModel::Gaussian);
GTSAM_VALUE_EXPORT(noiseModel::Diagonal);
GTSAM_VALUE_EXPORT(noiseModel::Unit);
double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) {
// Compute degrees of freedom (observations - variables)