recover SLAM serialization test
Jose Luis Blanco Claraco
parent
6fd325f31b
commit
a4b95d273f
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@ -20,6 +20,7 @@
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#include <gtsam/linear/GaussianBayesTree.h>
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#include <gtsam/inference/ISAM.h>
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#include <gtsam/base/Testable.h>
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namespace gtsam {
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@ -43,4 +44,8 @@ namespace gtsam {
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};
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/// traits
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template <>
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struct traits<GaussianISAM> : public Testable<GaussianISAM> {};
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}
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@ -117,4 +117,9 @@ namespace gtsam {
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GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
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};
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/// traits
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template<class VALUE>
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struct traits<PriorFactor<VALUE> > : public Testable<PriorFactor<VALUE> > {};
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} /// namespace gtsam
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@ -18,15 +18,10 @@
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#include <CppUnitLite/TestHarness.h>
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#if 0
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#include <tests/smallExample.h>
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//#include <gtsam/slam/AntiFactor.h>
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#include <gtsam/sam/BearingRangeFactor.h>
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#include <gtsam/slam/BetweenFactor.h>
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//#include <gtsam/slam/BoundingConstraint.h>
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#include <gtsam/slam/GeneralSFMFactor.h>
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//#include <gtsam/slam/PartialPriorFactor.h>
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#include <gtsam/nonlinear/PriorFactor.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/sam/RangeFactor.h>
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@ -34,8 +29,6 @@
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/linear/GaussianISAM.h>
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#include <gtsam/base/LieVector.h>
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#include <gtsam/base/LieMatrix.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/StereoPoint2.h>
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#include <gtsam/geometry/Point3.h>
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@ -49,6 +42,7 @@
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#include <gtsam/geometry/CalibratedCamera.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/StereoCamera.h>
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#include <gtsam/geometry/SimpleCamera.h>
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#include <gtsam/base/serializationTestHelpers.h>
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@ -57,8 +51,6 @@ using namespace gtsam;
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using namespace gtsam::serializationTestHelpers;
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// Creating as many permutations of factors as possible
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typedef PriorFactor<LieVector> PriorFactorLieVector;
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typedef PriorFactor<LieMatrix> PriorFactorLieMatrix;
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typedef PriorFactor<Point2> PriorFactorPoint2;
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typedef PriorFactor<StereoPoint2> PriorFactorStereoPoint2;
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typedef PriorFactor<Point3> PriorFactorPoint3;
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@ -69,12 +61,9 @@ typedef PriorFactor<Pose3> PriorFactorPose3;
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typedef PriorFactor<Cal3_S2> PriorFactorCal3_S2;
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typedef PriorFactor<Cal3DS2> PriorFactorCal3DS2;
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typedef PriorFactor<CalibratedCamera> PriorFactorCalibratedCamera;
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typedef PriorFactor<SimpleCamera> PriorFactorSimpleCamera;
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typedef PriorFactor<PinholeCameraCal3_S2> PriorFactorPinholeCameraCal3_S2;
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typedef PriorFactor<StereoCamera> PriorFactorStereoCamera;
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typedef BetweenFactor<LieVector> BetweenFactorLieVector;
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typedef BetweenFactor<LieMatrix> BetweenFactorLieMatrix;
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typedef BetweenFactor<Point2> BetweenFactorPoint2;
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typedef BetweenFactor<Point3> BetweenFactorPoint3;
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typedef BetweenFactor<Rot2> BetweenFactorRot2;
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@ -82,8 +71,6 @@ typedef BetweenFactor<Rot3> BetweenFactorRot3;
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typedef BetweenFactor<Pose2> BetweenFactorPose2;
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typedef BetweenFactor<Pose3> BetweenFactorPose3;
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typedef NonlinearEquality<LieVector> NonlinearEqualityLieVector;
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typedef NonlinearEquality<LieMatrix> NonlinearEqualityLieMatrix;
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typedef NonlinearEquality<Point2> NonlinearEqualityPoint2;
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typedef NonlinearEquality<StereoPoint2> NonlinearEqualityStereoPoint2;
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typedef NonlinearEquality<Point3> NonlinearEqualityPoint3;
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@ -94,7 +81,6 @@ typedef NonlinearEquality<Pose3> NonlinearEqualityPose3;
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typedef NonlinearEquality<Cal3_S2> NonlinearEqualityCal3_S2;
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typedef NonlinearEquality<Cal3DS2> NonlinearEqualityCal3DS2;
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typedef NonlinearEquality<CalibratedCamera> NonlinearEqualityCalibratedCamera;
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typedef NonlinearEquality<SimpleCamera> NonlinearEqualitySimpleCamera;
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typedef NonlinearEquality<PinholeCameraCal3_S2> NonlinearEqualityPinholeCameraCal3_S2;
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typedef NonlinearEquality<StereoCamera> NonlinearEqualityStereoCamera;
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@ -148,8 +134,6 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
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/* Create GUIDs for geometry */
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/* ************************************************************************* */
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GTSAM_VALUE_EXPORT(gtsam::LieVector);
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GTSAM_VALUE_EXPORT(gtsam::LieMatrix);
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GTSAM_VALUE_EXPORT(gtsam::Point2);
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GTSAM_VALUE_EXPORT(gtsam::StereoPoint2);
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GTSAM_VALUE_EXPORT(gtsam::Point3);
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@ -170,8 +154,6 @@ GTSAM_VALUE_EXPORT(gtsam::StereoCamera);
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BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
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BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");
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BOOST_CLASS_EXPORT_GUID(PriorFactorLieVector, "gtsam::PriorFactorLieVector");
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BOOST_CLASS_EXPORT_GUID(PriorFactorLieMatrix, "gtsam::PriorFactorLieMatrix");
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BOOST_CLASS_EXPORT_GUID(PriorFactorPoint2, "gtsam::PriorFactorPoint2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorStereoPoint2, "gtsam::PriorFactorStereoPoint2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorPoint3, "gtsam::PriorFactorPoint3");
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@ -182,11 +164,8 @@ BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3");
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BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2");
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BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera");
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BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
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BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorLieVector, "gtsam::BetweenFactorLieVector");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorLieMatrix, "gtsam::BetweenFactorLieMatrix");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint2, "gtsam::BetweenFactorPoint2");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint3, "gtsam::BetweenFactorPoint3");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorRot2, "gtsam::BetweenFactorRot2");
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@ -194,8 +173,6 @@ BOOST_CLASS_EXPORT_GUID(BetweenFactorRot3, "gtsam::BetweenFactorRot3");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorPose2, "gtsam::BetweenFactorPose2");
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BOOST_CLASS_EXPORT_GUID(BetweenFactorPose3, "gtsam::BetweenFactorPose3");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityLieVector, "gtsam::NonlinearEqualityLieVector");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityLieMatrix, "gtsam::NonlinearEqualityLieMatrix");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint2, "gtsam::NonlinearEqualityPoint2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoPoint2, "gtsam::NonlinearEqualityStereoPoint2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint3, "gtsam::NonlinearEqualityPoint3");
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@ -206,7 +183,6 @@ BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3")
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
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BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera");
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BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D");
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@ -286,8 +262,6 @@ TEST (testSerializationSLAM, smallExample_nonlinear) {
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/* ************************************************************************* */
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TEST (testSerializationSLAM, factors) {
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LieVector lieVector((Vector(4) << 1.0, 2.0, 3.0, 4.0).finished());
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LieMatrix lieMatrix((Matrix(2, 3) << 1.0, 2.0, 3.0, 4.0, 5.0 ,6.0).finished());
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Point2 point2(1.0, 2.0);
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StereoPoint2 stereoPoint2(1.0, 2.0, 3.0);
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Point3 point3(1.0, 2.0, 3.0);
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@ -311,8 +285,6 @@ TEST (testSerializationSLAM, factors) {
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b11('b',11), b12('b',12), b13('b',13), b14('b',14), b15('b',15);
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Values values;
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values.insert(a01, lieVector);
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values.insert(a02, lieMatrix);
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values.insert(a03, point2);
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values.insert(a04, stereoPoint2);
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values.insert(a05, point3);
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@ -344,8 +316,6 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsDereferencedXML(robust1));
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EXPECT(equalsDereferencedBinary(robust1));
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PriorFactorLieVector priorFactorLieVector(a01, lieVector, model4);
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PriorFactorLieMatrix priorFactorLieMatrix(a02, lieMatrix, model6);
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PriorFactorPoint2 priorFactorPoint2(a03, point2, model2);
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PriorFactorStereoPoint2 priorFactorStereoPoint2(a04, stereoPoint2, model3);
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PriorFactorPoint3 priorFactorPoint3(a05, point3, model3);
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@ -356,11 +326,8 @@ TEST (testSerializationSLAM, factors) {
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PriorFactorCal3_S2 priorFactorCal3_S2(a10, cal3_s2, model5);
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PriorFactorCal3DS2 priorFactorCal3DS2(a11, cal3ds2, model9);
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PriorFactorCalibratedCamera priorFactorCalibratedCamera(a12, calibratedCamera, model6);
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PriorFactorSimpleCamera priorFactorSimpleCamera(a13, simpleCamera, model11);
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PriorFactorStereoCamera priorFactorStereoCamera(a14, stereoCamera, model11);
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BetweenFactorLieVector betweenFactorLieVector(a01, b01, lieVector, model4);
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BetweenFactorLieMatrix betweenFactorLieMatrix(a02, b02, lieMatrix, model6);
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BetweenFactorPoint2 betweenFactorPoint2(a03, b03, point2, model2);
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BetweenFactorPoint3 betweenFactorPoint3(a05, b05, point3, model3);
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BetweenFactorRot2 betweenFactorRot2(a06, b06, rot2, model1);
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@ -368,8 +335,6 @@ TEST (testSerializationSLAM, factors) {
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BetweenFactorPose2 betweenFactorPose2(a08, b08, pose2, model3);
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BetweenFactorPose3 betweenFactorPose3(a09, b09, pose3, model6);
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NonlinearEqualityLieVector nonlinearEqualityLieVector(a01, lieVector);
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NonlinearEqualityLieMatrix nonlinearEqualityLieMatrix(a02, lieMatrix);
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NonlinearEqualityPoint2 nonlinearEqualityPoint2(a03, point2);
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NonlinearEqualityStereoPoint2 nonlinearEqualityStereoPoint2(a04, stereoPoint2);
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NonlinearEqualityPoint3 nonlinearEqualityPoint3(a05, point3);
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@ -380,7 +345,6 @@ TEST (testSerializationSLAM, factors) {
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NonlinearEqualityCal3_S2 nonlinearEqualityCal3_S2(a10, cal3_s2);
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NonlinearEqualityCal3DS2 nonlinearEqualityCal3DS2(a11, cal3ds2);
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NonlinearEqualityCalibratedCamera nonlinearEqualityCalibratedCamera(a12, calibratedCamera);
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NonlinearEqualitySimpleCamera nonlinearEqualitySimpleCamera(a13, simpleCamera);
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NonlinearEqualityStereoCamera nonlinearEqualityStereoCamera(a14, stereoCamera);
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RangeFactor2D rangeFactor2D(a08, a03, 2.0, model1);
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@ -405,8 +369,6 @@ TEST (testSerializationSLAM, factors) {
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NonlinearFactorGraph graph;
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graph += priorFactorLieVector;
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graph += priorFactorLieMatrix;
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graph += priorFactorPoint2;
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graph += priorFactorStereoPoint2;
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graph += priorFactorPoint3;
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@ -417,11 +379,8 @@ TEST (testSerializationSLAM, factors) {
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graph += priorFactorCal3_S2;
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graph += priorFactorCal3DS2;
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graph += priorFactorCalibratedCamera;
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graph += priorFactorSimpleCamera;
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graph += priorFactorStereoCamera;
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graph += betweenFactorLieVector;
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graph += betweenFactorLieMatrix;
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graph += betweenFactorPoint2;
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graph += betweenFactorPoint3;
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graph += betweenFactorRot2;
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@ -429,8 +388,6 @@ TEST (testSerializationSLAM, factors) {
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graph += betweenFactorPose2;
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graph += betweenFactorPose3;
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graph += nonlinearEqualityLieVector;
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graph += nonlinearEqualityLieMatrix;
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graph += nonlinearEqualityPoint2;
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graph += nonlinearEqualityStereoPoint2;
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graph += nonlinearEqualityPoint3;
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@ -441,7 +398,6 @@ TEST (testSerializationSLAM, factors) {
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graph += nonlinearEqualityCal3_S2;
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graph += nonlinearEqualityCal3DS2;
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graph += nonlinearEqualityCalibratedCamera;
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graph += nonlinearEqualitySimpleCamera;
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graph += nonlinearEqualityStereoCamera;
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graph += rangeFactor2D;
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@ -471,8 +427,6 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsObj<Values>(values));
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EXPECT(equalsObj<NonlinearFactorGraph>(graph));
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EXPECT(equalsObj<PriorFactorLieVector>(priorFactorLieVector));
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EXPECT(equalsObj<PriorFactorLieMatrix>(priorFactorLieMatrix));
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EXPECT(equalsObj<PriorFactorPoint2>(priorFactorPoint2));
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EXPECT(equalsObj<PriorFactorStereoPoint2>(priorFactorStereoPoint2));
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EXPECT(equalsObj<PriorFactorPoint3>(priorFactorPoint3));
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@ -483,11 +437,8 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsObj<PriorFactorCal3_S2>(priorFactorCal3_S2));
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EXPECT(equalsObj<PriorFactorCal3DS2>(priorFactorCal3DS2));
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EXPECT(equalsObj<PriorFactorCalibratedCamera>(priorFactorCalibratedCamera));
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EXPECT(equalsObj<PriorFactorSimpleCamera>(priorFactorSimpleCamera));
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EXPECT(equalsObj<PriorFactorStereoCamera>(priorFactorStereoCamera));
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EXPECT(equalsObj<BetweenFactorLieVector>(betweenFactorLieVector));
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EXPECT(equalsObj<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
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EXPECT(equalsObj<BetweenFactorPoint2>(betweenFactorPoint2));
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EXPECT(equalsObj<BetweenFactorPoint3>(betweenFactorPoint3));
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EXPECT(equalsObj<BetweenFactorRot2>(betweenFactorRot2));
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EXPECT(equalsObj<BetweenFactorPose2>(betweenFactorPose2));
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EXPECT(equalsObj<BetweenFactorPose3>(betweenFactorPose3));
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EXPECT(equalsObj<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
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EXPECT(equalsObj<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
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EXPECT(equalsObj<NonlinearEqualityPoint2>(nonlinearEqualityPoint2));
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EXPECT(equalsObj<NonlinearEqualityStereoPoint2>(nonlinearEqualityStereoPoint2));
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EXPECT(equalsObj<NonlinearEqualityPoint3>(nonlinearEqualityPoint3));
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@ -507,7 +456,6 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsObj<NonlinearEqualityCal3_S2>(nonlinearEqualityCal3_S2));
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EXPECT(equalsObj<NonlinearEqualityCal3DS2>(nonlinearEqualityCal3DS2));
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EXPECT(equalsObj<NonlinearEqualityCalibratedCamera>(nonlinearEqualityCalibratedCamera));
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EXPECT(equalsObj<NonlinearEqualitySimpleCamera>(nonlinearEqualitySimpleCamera));
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EXPECT(equalsObj<NonlinearEqualityStereoCamera>(nonlinearEqualityStereoCamera));
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EXPECT(equalsObj<RangeFactor2D>(rangeFactor2D));
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EXPECT(equalsXML<Values>(values));
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EXPECT(equalsXML<NonlinearFactorGraph>(graph));
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EXPECT(equalsXML<PriorFactorLieVector>(priorFactorLieVector));
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EXPECT(equalsXML<PriorFactorLieMatrix>(priorFactorLieMatrix));
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EXPECT(equalsXML<PriorFactorPoint2>(priorFactorPoint2));
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EXPECT(equalsXML<PriorFactorStereoPoint2>(priorFactorStereoPoint2));
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EXPECT(equalsXML<PriorFactorPoint3>(priorFactorPoint3));
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@ -549,11 +495,8 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsXML<PriorFactorCal3_S2>(priorFactorCal3_S2));
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EXPECT(equalsXML<PriorFactorCal3DS2>(priorFactorCal3DS2));
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EXPECT(equalsXML<PriorFactorCalibratedCamera>(priorFactorCalibratedCamera));
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EXPECT(equalsXML<PriorFactorSimpleCamera>(priorFactorSimpleCamera));
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EXPECT(equalsXML<PriorFactorStereoCamera>(priorFactorStereoCamera));
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EXPECT(equalsXML<BetweenFactorLieVector>(betweenFactorLieVector));
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EXPECT(equalsXML<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
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EXPECT(equalsXML<BetweenFactorPoint2>(betweenFactorPoint2));
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EXPECT(equalsXML<BetweenFactorPoint3>(betweenFactorPoint3));
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EXPECT(equalsXML<BetweenFactorRot2>(betweenFactorRot2));
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@ -561,8 +504,6 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsXML<BetweenFactorPose2>(betweenFactorPose2));
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EXPECT(equalsXML<BetweenFactorPose3>(betweenFactorPose3));
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EXPECT(equalsXML<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
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EXPECT(equalsXML<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
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EXPECT(equalsXML<NonlinearEqualityPoint2>(nonlinearEqualityPoint2));
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EXPECT(equalsXML<NonlinearEqualityStereoPoint2>(nonlinearEqualityStereoPoint2));
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EXPECT(equalsXML<NonlinearEqualityPoint3>(nonlinearEqualityPoint3));
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@ -573,7 +514,6 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsXML<NonlinearEqualityCal3_S2>(nonlinearEqualityCal3_S2));
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EXPECT(equalsXML<NonlinearEqualityCal3DS2>(nonlinearEqualityCal3DS2));
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EXPECT(equalsXML<NonlinearEqualityCalibratedCamera>(nonlinearEqualityCalibratedCamera));
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EXPECT(equalsXML<NonlinearEqualitySimpleCamera>(nonlinearEqualitySimpleCamera));
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EXPECT(equalsXML<NonlinearEqualityStereoCamera>(nonlinearEqualityStereoCamera));
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EXPECT(equalsXML<RangeFactor2D>(rangeFactor2D));
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@ -603,8 +543,6 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsBinary<Values>(values));
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EXPECT(equalsBinary<NonlinearFactorGraph>(graph));
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EXPECT(equalsBinary<PriorFactorLieVector>(priorFactorLieVector));
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EXPECT(equalsBinary<PriorFactorLieMatrix>(priorFactorLieMatrix));
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EXPECT(equalsBinary<PriorFactorPoint2>(priorFactorPoint2));
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EXPECT(equalsBinary<PriorFactorStereoPoint2>(priorFactorStereoPoint2));
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EXPECT(equalsBinary<PriorFactorPoint3>(priorFactorPoint3));
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@ -615,11 +553,8 @@ TEST (testSerializationSLAM, factors) {
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EXPECT(equalsBinary<PriorFactorCal3_S2>(priorFactorCal3_S2));
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EXPECT(equalsBinary<PriorFactorCal3DS2>(priorFactorCal3DS2));
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EXPECT(equalsBinary<PriorFactorCalibratedCamera>(priorFactorCalibratedCamera));
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EXPECT(equalsBinary<PriorFactorSimpleCamera>(priorFactorSimpleCamera));
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EXPECT(equalsBinary<PriorFactorStereoCamera>(priorFactorStereoCamera));
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EXPECT(equalsBinary<BetweenFactorLieVector>(betweenFactorLieVector));
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EXPECT(equalsBinary<BetweenFactorLieMatrix>(betweenFactorLieMatrix));
|
||||
EXPECT(equalsBinary<BetweenFactorPoint2>(betweenFactorPoint2));
|
||||
EXPECT(equalsBinary<BetweenFactorPoint3>(betweenFactorPoint3));
|
||||
EXPECT(equalsBinary<BetweenFactorRot2>(betweenFactorRot2));
|
||||
|
|
@ -627,8 +562,6 @@ TEST (testSerializationSLAM, factors) {
|
|||
EXPECT(equalsBinary<BetweenFactorPose2>(betweenFactorPose2));
|
||||
EXPECT(equalsBinary<BetweenFactorPose3>(betweenFactorPose3));
|
||||
|
||||
EXPECT(equalsBinary<NonlinearEqualityLieVector>(nonlinearEqualityLieVector));
|
||||
EXPECT(equalsBinary<NonlinearEqualityLieMatrix>(nonlinearEqualityLieMatrix));
|
||||
EXPECT(equalsBinary<NonlinearEqualityPoint2>(nonlinearEqualityPoint2));
|
||||
EXPECT(equalsBinary<NonlinearEqualityStereoPoint2>(nonlinearEqualityStereoPoint2));
|
||||
EXPECT(equalsBinary<NonlinearEqualityPoint3>(nonlinearEqualityPoint3));
|
||||
|
|
@ -639,7 +572,6 @@ TEST (testSerializationSLAM, factors) {
|
|||
EXPECT(equalsBinary<NonlinearEqualityCal3_S2>(nonlinearEqualityCal3_S2));
|
||||
EXPECT(equalsBinary<NonlinearEqualityCal3DS2>(nonlinearEqualityCal3DS2));
|
||||
EXPECT(equalsBinary<NonlinearEqualityCalibratedCamera>(nonlinearEqualityCalibratedCamera));
|
||||
EXPECT(equalsBinary<NonlinearEqualitySimpleCamera>(nonlinearEqualitySimpleCamera));
|
||||
EXPECT(equalsBinary<NonlinearEqualityStereoCamera>(nonlinearEqualityStereoCamera));
|
||||
|
||||
EXPECT(equalsBinary<RangeFactor2D>(rangeFactor2D));
|
||||
|
|
@ -663,7 +595,6 @@ TEST (testSerializationSLAM, factors) {
|
|||
EXPECT(equalsBinary<GenericStereoFactor3D>(genericStereoFactor3D));
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
||||
|
|
|
|||
Loading…
Reference in New Issue