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Added more serialization - geometry is done, jacobian and hessian factors done, visual system done. Split projection factor out from visual SLAM into separate header

release/4.3a0
Alex Cunningham 2011-06-03 21:32:27 +00:00
parent 29e2ee8d9d
commit c44315fec8
18 changed files with 472 additions and 539 deletions
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@ -322,6 +322,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
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<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -348,7 +356,6 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
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<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -356,7 +363,6 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -404,7 +410,6 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -412,7 +417,6 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -420,7 +424,6 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -436,20 +439,11 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
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<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
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</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -474,16 +468,9 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianISAM2.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianISAM2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
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<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -529,14 +516,6 @@
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<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSQP.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testSQP.run</buildTarget>
<stopOnError>true</stopOnError>
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<runAllBuilders>true</runAllBuilders>
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<target name="testSubgraphPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSubgraphPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -561,38 +540,17 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testBayesNetPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
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<target name="testConstraintOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments>-j2</buildArguments>
<buildTarget>testConstraintOptimizer.run</buildTarget>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
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</target> </target>
<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testGaussianBayesNet.run</buildTarget>
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@ -600,6 +558,7 @@
</target> </target>
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments/>
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@ -607,6 +566,7 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
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<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -614,6 +574,7 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
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@ -635,6 +596,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSerialization.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<buildTarget>testSerialization.run</buildTarget>
<stopOnError>true</stopOnError>
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<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -675,6 +644,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
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</target>
<target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -699,14 +676,6 @@
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@ -763,14 +732,6 @@
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@ -779,6 +740,14 @@
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@ -981,7 +950,6 @@
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@ -1365,6 +1333,7 @@
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -1404,6 +1373,7 @@
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@ -1411,6 +1381,7 @@
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@ -1602,6 +1573,7 @@
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@ -1623,46 +1595,6 @@
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@ -1759,6 +1691,54 @@
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@ -1791,14 +1771,6 @@
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@ -2121,6 +2093,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2147,7 +2127,6 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget> <buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2155,7 +2134,6 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2203,7 +2181,6 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2211,7 +2188,6 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2219,7 +2195,6 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2235,20 +2210,11 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget> <buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2273,16 +2239,9 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianISAM2.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianISAM2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget> <buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2328,14 +2287,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSQP.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testSQP.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSubgraphPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSubgraphPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2360,38 +2311,17 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testBayesNetPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testBayesNetPreconditioner.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testConstraintOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testConstraintOptimizer.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testInference.run</buildTarget> <buildTarget>testInference.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testGaussianBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianFactor.run</buildTarget> <buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2399,6 +2329,7 @@
</target> </target>
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget> <buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2406,6 +2337,7 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2413,6 +2345,7 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2434,6 +2367,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSerialization.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testSerialization.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2474,6 +2415,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2498,14 +2447,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2562,14 +2503,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>vSFMexample.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/gtsam/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build/gtsam/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2578,6 +2511,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>vSFMexample.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2780,7 +2721,6 @@
</target> </target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget> <buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -3164,6 +3104,7 @@
</target> </target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget> <buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -3203,6 +3144,7 @@
</target> </target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget> <buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -3210,6 +3152,7 @@
</target> </target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget> <buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -3401,6 +3344,7 @@
</target> </target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget> <buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -3422,46 +3366,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -3558,6 +3462,54 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -3590,14 +3542,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets> </buildTargets>
</storageModule> </storageModule>
</cconfiguration> </cconfiguration>

26
gtsam/base/Matrix.h
View File

@ -489,7 +489,7 @@ Matrix expm(const Matrix& A, size_t K=7);
namespace boost { namespace boost {
namespace serialization { namespace serialization {
// split version - sends sizes ahead // split version for Row-major matrix - sends sizes ahead
template<class Archive> template<class Archive>
void save(Archive & ar, const Matrix & m, unsigned int version) void save(Archive & ar, const Matrix & m, unsigned int version)
{ {
@ -512,8 +512,32 @@ void load(Archive & ar, Matrix & m, unsigned int version)
std::copy(raw_data.begin(), raw_data.end(), m.data()); std::copy(raw_data.begin(), raw_data.end(), m.data());
} }
// split version for Column-major matrix - sends sizes ahead
template<class Archive>
void save(Archive & ar, const MatrixColMajor & m, unsigned int version)
{
const int rows = m.rows(), cols = m.cols(), elements = rows*cols;
std::vector<double> raw_data(elements);
std::copy(m.data(), m.data()+elements, raw_data.begin());
ar << make_nvp("rows", rows);
ar << make_nvp("cols", cols);
ar << make_nvp("data", raw_data);
}
template<class Archive>
void load(Archive & ar, MatrixColMajor & m, unsigned int version)
{
size_t rows, cols;
std::vector<double> raw_data;
ar >> make_nvp("rows", rows);
ar >> make_nvp("cols", cols);
ar >> make_nvp("data", raw_data);
m = MatrixColMajor(rows, cols);
std::copy(raw_data.begin(), raw_data.end(), m.data());
}
} // namespace serialization } // namespace serialization
} // namespace boost } // namespace boost
BOOST_SERIALIZATION_SPLIT_FREE(Matrix) BOOST_SERIALIZATION_SPLIT_FREE(Matrix)
BOOST_SERIALIZATION_SPLIT_FREE(MatrixColMajor)

22
gtsam/base/blockMatrices.h
View File

@ -288,6 +288,18 @@ protected:
template<class OTHER> friend class SymmetricBlockView; template<class OTHER> friend class SymmetricBlockView;
template<class RELATED> friend class VerticalBlockView; template<class RELATED> friend class VerticalBlockView;
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(matrix_);
ar & BOOST_SERIALIZATION_NVP(variableColOffsets_);
ar & BOOST_SERIALIZATION_NVP(rowStart_);
ar & BOOST_SERIALIZATION_NVP(rowEnd_);
ar & BOOST_SERIALIZATION_NVP(blockStart_);
}
}; };
/** /**
@ -571,6 +583,16 @@ protected:
template<class RELATED> friend class SymmetricBlockView; template<class RELATED> friend class SymmetricBlockView;
template<class OTHER> friend class VerticalBlockView; template<class OTHER> friend class VerticalBlockView;
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(matrix_);
ar & BOOST_SERIALIZATION_NVP(variableColOffsets_);
ar & BOOST_SERIALIZATION_NVP(blockStart_);
}
}; };

17
gtsam/geometry/SimpleCamera.h
View File

@ -38,6 +38,10 @@ namespace gtsam {
public: public:
SimpleCamera(const Cal3_S2& K, const CalibratedCamera& calibrated); SimpleCamera(const Cal3_S2& K, const CalibratedCamera& calibrated);
SimpleCamera(const Cal3_S2& K, const Pose3& pose); SimpleCamera(const Cal3_S2& K, const Pose3& pose);
/** constructor for serialization */
SimpleCamera(){}
virtual ~SimpleCamera(); virtual ~SimpleCamera();
const Pose3& pose() const { const Pose3& pose() const {
@ -73,6 +77,19 @@ namespace gtsam {
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H1 = boost::none,
boost::optional<Matrix&> H2 = boost::none) const; boost::optional<Matrix&> H2 = boost::none) const;
bool equals(const SimpleCamera& X, double tol=1e-9) const {
return calibrated_.equals(X.calibrated_, tol) && K_.equals(X.K_, tol);
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(calibrated_);
ar & BOOST_SERIALIZATION_NVP(K_);
}
}; };
} }

12
gtsam/geometry/StereoPoint2.h
View File

@ -55,7 +55,7 @@ namespace gtsam {
} }
/** equals */ /** equals */
bool equals(const StereoPoint2& q, double tol) const { bool equals(const StereoPoint2& q, double tol=1e-9) const {
return (fabs(uL_ - q.uL_) < tol && fabs(uR_ - q.uR_) < tol && fabs(v_ return (fabs(uL_ - q.uL_) < tol && fabs(uR_ - q.uR_) < tol && fabs(v_
- q.v_) < tol); - q.v_) < tol);
} }
@ -120,6 +120,16 @@ namespace gtsam {
inline StereoPoint2 between(const StereoPoint2& p2) const { inline StereoPoint2 between(const StereoPoint2& p2) const {
return gtsam::between_default(*this, p2); return gtsam::between_default(*this, p2);
} }
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(uL_);
ar & BOOST_SERIALIZATION_NVP(uR_);
ar & BOOST_SERIALIZATION_NVP(v_);
}
}; };
} }

7
gtsam/inference/IndexConditional.h
View File

@ -88,6 +88,13 @@ namespace gtsam {
*/ */
void permuteWithInverse(const Permutation& inversePermutation); void permuteWithInverse(const Permutation& inversePermutation);
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
}; };
} }

5
gtsam/inference/tests/testBinaryBayesNet.cpp
View File

@ -26,11 +26,6 @@
#include <boost/assign/std/vector.hpp> // for operator += #include <boost/assign/std/vector.hpp> // for operator +=
using namespace boost::assign; using namespace boost::assign;
#ifdef HAVE_BOOST_SERIALIZATION
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#endif //HAVE_BOOST_SERIALIZATION
#define GTSAM_MAGIC_KEY #define GTSAM_MAGIC_KEY
#include <gtsam/inference/BinaryConditional.h> #include <gtsam/inference/BinaryConditional.h>

20
gtsam/linear/GaussianConditional.h
View File

@ -149,20 +149,18 @@ protected:
friend class JacobianFactor; friend class JacobianFactor;
private: private:
// /** Serialization function */ /** Serialization function */
// friend class boost::serialization::access; friend class boost::serialization::access;
// template<class Archive> template<class Archive>
// void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
// ar & boost::serialization::make_nvp("Conditional", boost::serialization::base_object<Conditional>(*this)); ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(IndexConditional);
// ar & BOOST_SERIALIZATION_NVP(R_); ar & BOOST_SERIALIZATION_NVP(matrix_);
// ar & BOOST_SERIALIZATION_NVP(parents_); ar & BOOST_SERIALIZATION_NVP(rsd_);
// ar & BOOST_SERIALIZATION_NVP(d_); ar & BOOST_SERIALIZATION_NVP(sigmas_);
// ar & BOOST_SERIALIZATION_NVP(sigmas_); }
// }
}; // GaussianConditional }; // GaussianConditional
/* ************************************************************************* */ /* ************************************************************************* */
// TODO: constructor outside class???
template<typename ITERATOR, class MATRIX> template<typename ITERATOR, class MATRIX>
GaussianConditional::GaussianConditional(ITERATOR firstKey, ITERATOR lastKey, GaussianConditional::GaussianConditional(ITERATOR firstKey, ITERATOR lastKey,
size_t nrFrontals, const VerticalBlockView<MATRIX>& matrices, size_t nrFrontals, const VerticalBlockView<MATRIX>& matrices,

1
gtsam/linear/HessianFactor.h
View File

@ -156,6 +156,7 @@ namespace gtsam {
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) { void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(GaussianFactor);
ar & BOOST_SERIALIZATION_NVP(info_); ar & BOOST_SERIALIZATION_NVP(info_);
ar & BOOST_SERIALIZATION_NVP(matrix_); ar & BOOST_SERIALIZATION_NVP(matrix_);
} }

1
gtsam/linear/JacobianFactor.h
View File

@ -250,6 +250,7 @@ namespace gtsam {
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) { void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(GaussianFactor);
ar & BOOST_SERIALIZATION_NVP(firstNonzeroBlocks_); ar & BOOST_SERIALIZATION_NVP(firstNonzeroBlocks_);
ar & BOOST_SERIALIZATION_NVP(Ab_); ar & BOOST_SERIALIZATION_NVP(Ab_);
ar & BOOST_SERIALIZATION_NVP(model_); ar & BOOST_SERIALIZATION_NVP(model_);

45
gtsam/linear/tests/testGaussianConditional.cpp
View File

@ -18,13 +18,6 @@
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h> #include <gtsam/base/TestableAssertions.h>
#ifdef HAVE_BOOST_SERIALIZATION
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#endif //HAVE_BOOST_SERIALIZATION
//#define GTSAM_MAGIC_KEY
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
#include <gtsam/linear/GaussianConditional.h> #include <gtsam/linear/GaussianConditional.h>
@ -162,44 +155,6 @@ TEST( GaussianConditional, solve )
} }
/* ************************************************************************* */
#ifdef HAVE_BOOST_SERIALIZATION
TEST( GaussianConditional, serialize )
{
// create a conditional gaussion node
Matrix A1(2,2);
A1(0,0) = 1 ; A1(1,0) = 2;
A1(0,1) = 3 ; A1(1,1) = 4;
Matrix A2(2,2);
A2(0,0) = 6 ; A2(1,0) = 0.2;
A2(0,1) = 8 ; A2(1,1) = 0.4;
Matrix R(2,2);
R(0,0) = 0.1 ; R(1,0) = 0.3;
R(0,1) = 0.0 ; R(1,1) = 0.34;
Vector d(2);
d(0) = 0.2; d(1) = 0.5;
GaussianConditional cg(_x2_, d, R, _x1_, A1, _l1_, A2);
//serialize the CG
std::ostringstream in_archive_stream;
boost::archive::text_oarchive in_archive(in_archive_stream);
in_archive << cg;
std::string serialized = in_archive_stream.str();
//deserialize the CGg
std::istringstream out_archive_stream(serialized);
boost::archive::text_iarchive out_archive(out_archive_stream);
GaussianConditional output;
out_archive >> output;
//check for equality
EXPECT(cg.equals(output));
}
#endif //HAVE_BOOST_SERIALIZATION
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);} int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */ /* ************************************************************************* */

34
gtsam/linear/tests/testVectorBTree.cpp
View File

@ -22,13 +22,6 @@
#include <boost/assign/std/vector.hpp> #include <boost/assign/std/vector.hpp>
using namespace boost::assign; // bring 'operator+=()' into scope using namespace boost::assign; // bring 'operator+=()' into scope
//#include TEST_AC_DEFINE
#ifdef HAVE_BOOST_SERIALIZATION
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#endif //HAVE_BOOST_SERIALIZATION
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
#include <gtsam/linear/VectorBTree.h> #include <gtsam/linear/VectorBTree.h>
@ -285,33 +278,6 @@ TEST( VectorBTree, subVector) {
CHECK(assert_equal(expected,c)); CHECK(assert_equal(expected,c));
} }
/* ************************************************************************* */
#ifdef HAVE_BOOST_SERIALIZATION
TEST( VectorBTree, serialize)
{
//DEBUG:
cout << "VectorBTree: Running Serialization Test" << endl;
//create an VectorBTree
VectorBTree fg = createValues();
//serialize the config
std::ostringstream in_archive_stream;
boost::archive::text_oarchive in_archive(in_archive_stream);
in_archive << fg;
std::string serialized_fgc = in_archive_stream.str();
//deserialize the config
std::istringstream out_archive_stream(serialized_fgc);
boost::archive::text_iarchive out_archive(out_archive_stream);
VectorBTree output;
out_archive >> output;
//check for equality
CHECK(fg.equals(output));
}
#endif //HAVE_BOOST_SERIALIZATION
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
TestResult tr; TestResult tr;

33
gtsam/linear/tests/testVectorMap.cpp
View File

@ -19,13 +19,6 @@
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>
//#include TEST_AC_DEFINE
#ifdef HAVE_BOOST_SERIALIZATION
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#endif //HAVE_BOOST_SERIALIZATION
#define GTSAM_MAGIC_KEY #define GTSAM_MAGIC_KEY
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
@ -224,32 +217,6 @@ TEST( VectorMap, getReference) {
CHECK(assert_equal(expected,c)); CHECK(assert_equal(expected,c));
} }
/* ************************************************************************* */
#ifdef HAVE_BOOST_SERIALIZATION
TEST( VectorMap, serialize)
{
//DEBUG:
cout << "VectorMap: Running Serialization Test" << endl;
//create an VectorMap
VectorMap fg = createValues();
//serialize the config
std::ostringstream in_archive_stream;
boost::archive::text_oarchive in_archive(in_archive_stream);
in_archive << fg;
std::string serialized_fgc = in_archive_stream.str();
//deserialize the config
std::istringstream out_archive_stream(serialized_fgc);
boost::archive::text_iarchive out_archive(out_archive_stream);
VectorMap output;
out_archive >> output;
//check for equality
CHECK(fg.equals(output));
}
#endif //HAVE_BOOST_SERIALIZATION
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */ /* ************************************************************************* */

2
gtsam/slam/Makefile.am
View File

@ -50,7 +50,7 @@ sources += pose3SLAM.cpp
check_PROGRAMS += tests/testPose3Factor tests/testPose3Values tests/testPose3SLAM check_PROGRAMS += tests/testPose3Factor tests/testPose3Values tests/testPose3SLAM
# Visual SLAM # Visual SLAM
headers += GeneralSFMFactor.h headers += GeneralSFMFactor.h ProjectionFactor.h
sources += visualSLAM.cpp sources += visualSLAM.cpp
check_PROGRAMS += tests/testVSLAMFactor tests/testVSLAMGraph tests/testVSLAMValues tests/testGeneralSFMFactor tests/testGeneralSFMFactor_Cal3Bundler check_PROGRAMS += tests/testVSLAMFactor tests/testVSLAMGraph tests/testVSLAMValues tests/testGeneralSFMFactor tests/testGeneralSFMFactor_Cal3Bundler

90
gtsam/slam/ProjectionFactor.h Normal file
View File

@ -0,0 +1,90 @@
/**
* @file ProjectionFactor.h
* @brief Basic bearing factor from 2D measurement
* @author Alex Cunningham
*/
#pragma once
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/geometry/SimpleCamera.h>
namespace gtsam {
/**
* Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
* i.e. the main building block for visual SLAM.
*/
template <class CFG, class LMK, class POSK>
class GenericProjectionFactor : public NonlinearFactor2<CFG, POSK, LMK>, Testable<GenericProjectionFactor<CFG, LMK, POSK> > {
protected:
// Keep a copy of measurement and calibration for I/O
Point2 z_;
boost::shared_ptr<Cal3_S2> K_;
public:
// shorthand for base class type
typedef NonlinearFactor2<CFG, POSK, LMK> Base;
// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<GenericProjectionFactor<CFG, LMK, POSK> > shared_ptr;
/**
* Default constructor
*/
GenericProjectionFactor() : K_(new Cal3_S2(444, 555, 666, 777, 888)) {}
/**
* Constructor
* @param z is the 2 dimensional location of point in image (the measurement)
* @param sigma is the standard deviation
* @param cameraFrameNumber is basically the frame number
* @param landmarkNumber is the index of the landmark
* @param K the constant calibration
*/
GenericProjectionFactor(const Point2& z,
const SharedGaussian& model, POSK j_pose,
LMK j_landmark, const shared_ptrK& K) :
Base(model, j_pose, j_landmark), z_(z), K_(K) {
}
/**
* print
* @param s optional string naming the factor
*/
void print(const std::string& s = "ProjectionFactor") const {
Base::print(s);
z_.print(s + ".z");
}
/**
* equals
*/
bool equals(const GenericProjectionFactor<CFG, LMK, POSK>& p, double tol = 1e-9) const {
return Base::equals(p, tol) && this->z_.equals(p.z_, tol)
&& this->K_->equals(*p.K_, tol);
}
/** h(x)-z */
Vector evaluateError(const Pose3& pose, const Point3& point,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
SimpleCamera camera(*K_, pose);
Point2 reprojectionError(camera.project(point, H1, H2) - z_);
return reprojectionError.vector();
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar & BOOST_SERIALIZATION_NVP(z_);
ar & BOOST_SERIALIZATION_NVP(K_);
}
};
} // \ namespace gtsam

78
gtsam/slam/visualSLAM.h
View File

@ -27,87 +27,11 @@
#include <gtsam/nonlinear/NonlinearEquality.h> #include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h> #include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/StereoFactor.h> #include <gtsam/slam/StereoFactor.h>
namespace gtsam { namespace gtsam {
/**
* Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
* i.e. the main building block for visual SLAM.
*/
template <class CFG, class LMK, class POSK>
class GenericProjectionFactor : public NonlinearFactor2<CFG, POSK, LMK>, Testable<GenericProjectionFactor<CFG, LMK, POSK> > {
protected:
// Keep a copy of measurement and calibration for I/O
Point2 z_;
boost::shared_ptr<Cal3_S2> K_;
public:
// shorthand for base class type
typedef NonlinearFactor2<CFG, POSK, LMK> Base;
// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<GenericProjectionFactor<CFG, LMK, POSK> > shared_ptr;
/**
* Default constructor
*/
GenericProjectionFactor() : K_(new Cal3_S2(444, 555, 666, 777, 888)) {}
/**
* Constructor
* @param z is the 2 dimensional location of point in image (the measurement)
* @param sigma is the standard deviation
* @param cameraFrameNumber is basically the frame number
* @param landmarkNumber is the index of the landmark
* @param K the constant calibration
*/
GenericProjectionFactor(const Point2& z,
const SharedGaussian& model, POSK j_pose,
LMK j_landmark, const shared_ptrK& K) :
Base(model, j_pose, j_landmark), z_(z), K_(K) {
}
/**
* print
* @param s optional string naming the factor
*/
void print(const std::string& s = "ProjectionFactor") const {
Base::print(s);
z_.print(s + ".z");
}
/**
* equals
*/
bool equals(const GenericProjectionFactor<CFG, LMK, POSK>& p, double tol = 1e-9) const {
return Base::equals(p, tol) && this->z_.equals(p.z_, tol)
&& this->K_->equals(*p.K_, tol);
}
/** h(x)-z */
Vector evaluateError(const Pose3& pose, const Point3& point,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
SimpleCamera camera(*K_, pose);
Point2 reprojectionError(camera.project(point, H1, H2) - z_);
return reprojectionError.vector();
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(z_);
ar & BOOST_SERIALIZATION_NVP(K_);
}
};
namespace visualSLAM { namespace visualSLAM {
/** /**

46
tests/testGaussianBayesNet.cpp
View File

@ -25,11 +25,6 @@
#include <boost/assign/std/list.hpp> // for operator += #include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign; using namespace boost::assign;
#ifdef HAVE_BOOST_SERIALIZATION
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#endif //HAVE_BOOST_SERIALIZATION
#define GTSAM_MAGIC_KEY #define GTSAM_MAGIC_KEY
#include <gtsam/linear/GaussianBayesNet.h> #include <gtsam/linear/GaussianBayesNet.h>
@ -203,47 +198,6 @@ TEST( GaussianBayesNet, backSubstituteTranspose )
CHECK(assert_equal(y,actual)); CHECK(assert_equal(y,actual));
} }
/* ************************************************************************* */
#ifdef HAVE_BOOST_SERIALIZATION
TEST( GaussianBayesNet, serialize )
{
//create a starting CBN
GaussianBayesNet cbn = createSmallGaussianBayesNet();
//serialize the CBN
ostringstream in_archive_stream;
boost::archive::text_oarchive in_archive(in_archive_stream);
in_archive << cbn;
string serialized = in_archive_stream.str();
//DEBUG
cout << "CBN Raw string: [" << serialized << "]" << endl;
//remove newlines/carriage returns
string clean;
BOOST_FOREACH(char s, serialized) {
if (s != '\n') {
//copy in character
clean.append(string(1,s));
}
else {
cout << " Newline character found!" << endl;
//replace with an identifiable string
clean.append(string(1,' '));
}
}
cout << "Cleaned CBN String: [" << clean << "]" << endl;
//deserialize the CBN
istringstream out_archive_stream(clean);
boost::archive::text_iarchive out_archive(out_archive_stream);
GaussianBayesNet output;
out_archive >> output;
CHECK(cbn.equals(output));
}
#endif //HAVE_BOOST_SERIALIZATION
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);} int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */ /* ************************************************************************* */

136
tests/testSerialization.cpp
View File

@ -137,22 +137,23 @@ bool equalsDereferencedXML(const T& input = T()) {
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
#include <gtsam/base/Vector.h> #include <gtsam/base/Vector.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h> #include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot2.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/StereoCamera.h>
#include <gtsam/slam/planarSLAM.h> #include <gtsam/slam/planarSLAM.h>
#include <gtsam/slam/pose3SLAM.h>
#include <gtsam/slam/visualSLAM.h>
#include <gtsam/slam/BearingFactor.h> #include <gtsam/slam/BearingFactor.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
using namespace planarSLAM;
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, matrix_vector) { TEST (Serialization, matrix_vector) {
@ -163,17 +164,40 @@ TEST (Serialization, matrix_vector) {
EXPECT(equalityXML<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0))); EXPECT(equalityXML<Matrix>(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0)));
} }
Point3 pt3(1.0, 2.0, 3.0);
Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
Pose3 pose3(rt3, pt3);
Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5);
Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0);
Cal3Bundler cal3(1.0, 2.0, 3.0);
Cal3_S2Stereo cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
CalibratedCamera cal5(Pose3(rt3, pt3));
SimpleCamera cam1(cal1, cal5);
StereoCamera cam2(pose3, cal4);
StereoPoint2 spt(1.0, 2.0, 3.0);
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, text_geometry) { TEST (Serialization, text_geometry) {
EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0))); EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0)));
EXPECT(equalsObj<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3))); EXPECT(equalsObj<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
EXPECT(equalsObj<gtsam::Rot2>(Rot2::fromDegrees(30.0))); EXPECT(equalsObj<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
Point3 pt3(1.0, 2.0, 3.0); EXPECT(equalsObj(pt3));
Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
EXPECT(equalsObj<gtsam::Point3>(pt3));
EXPECT(equalsObj<gtsam::Rot3>(rt3)); EXPECT(equalsObj<gtsam::Rot3>(rt3));
EXPECT(equalsObj<gtsam::Pose3>(Pose3(rt3, pt3))); EXPECT(equalsObj<gtsam::Pose3>(Pose3(rt3, pt3)));
EXPECT(equalsObj(cal1));
EXPECT(equalsObj(cal2));
EXPECT(equalsObj(cal3));
EXPECT(equalsObj(cal4));
EXPECT(equalsObj(cal5));
EXPECT(equalsObj(cam1));
EXPECT(equalsObj(cam2));
EXPECT(equalsObj(spt));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -182,11 +206,19 @@ TEST (Serialization, xml_geometry) {
EXPECT(equalsXML<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3))); EXPECT(equalsXML<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
EXPECT(equalsXML<gtsam::Rot2>(Rot2::fromDegrees(30.0))); EXPECT(equalsXML<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
Point3 pt3(1.0, 2.0, 3.0);
Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
EXPECT(equalsXML<gtsam::Point3>(pt3)); EXPECT(equalsXML<gtsam::Point3>(pt3));
EXPECT(equalsXML<gtsam::Rot3>(rt3)); EXPECT(equalsXML<gtsam::Rot3>(rt3));
EXPECT(equalsXML<gtsam::Pose3>(Pose3(rt3, pt3))); EXPECT(equalsXML<gtsam::Pose3>(Pose3(rt3, pt3)));
EXPECT(equalsXML(cal1));
EXPECT(equalsXML(cal2));
EXPECT(equalsXML(cal3));
EXPECT(equalsXML(cal4));
EXPECT(equalsXML(cal5));
EXPECT(equalsXML(cam1));
EXPECT(equalsXML(cam2));
EXPECT(equalsXML(spt));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -273,7 +305,7 @@ TEST (Serialization, SharedDiagonal_noiseModels) {
#include <gtsam/linear/HessianFactor.h> #include <gtsam/linear/HessianFactor.h>
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, text_linear) { TEST (Serialization, linear) {
vector<size_t> dims; vector<size_t> dims;
dims.push_back(1); dims.push_back(1);
dims.push_back(2); dims.push_back(2);
@ -281,26 +313,6 @@ TEST (Serialization, text_linear) {
double v[] = {1., 2., 3., 4., 5.}; double v[] = {1., 2., 3., 4., 5.};
VectorValues values(dims, v); VectorValues values(dims, v);
EXPECT(equalsObj<VectorValues>(values)); EXPECT(equalsObj<VectorValues>(values));
Index i1 = 4, i2 = 7;
Matrix A1 = eye(3), A2 = -1.0 * eye(3);
Vector b = ones(3);
SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(3, 1.0, 2.0, 3.0));
JacobianFactor jacobianfactor(i1, A1, i2, A2, b, model);
EXPECT(equalsObj<VectorValues>(jacobianfactor));
HessianFactor hessianfactor(jacobianfactor);
EXPECT(equalsObj<VectorValues>(hessianfactor));
}
/* ************************************************************************* */
TEST (Serialization, xml_linear) {
vector<size_t> dims;
dims.push_back(1);
dims.push_back(2);
dims.push_back(2);
double v[] = {1., 2., 3., 4., 5.};
VectorValues values(dims, v);
EXPECT(equalsXML<VectorValues>(values)); EXPECT(equalsXML<VectorValues>(values));
Index i1 = 4, i2 = 7; Index i1 = 4, i2 = 7;
@ -308,10 +320,21 @@ TEST (Serialization, xml_linear) {
Vector b = ones(3); Vector b = ones(3);
SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(3, 1.0, 2.0, 3.0)); SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(3, 1.0, 2.0, 3.0));
JacobianFactor jacobianfactor(i1, A1, i2, A2, b, model); JacobianFactor jacobianfactor(i1, A1, i2, A2, b, model);
EXPECT(equalsObj<VectorValues>(jacobianfactor)); EXPECT(equalsObj(jacobianfactor));
EXPECT(equalsXML(jacobianfactor));
HessianFactor hessianfactor(jacobianfactor); HessianFactor hessianfactor(jacobianfactor);
EXPECT(equalsObj<VectorValues>(hessianfactor)); EXPECT(equalsObj(hessianfactor));
EXPECT(equalsXML(hessianfactor));
{
Matrix A1 = Matrix_(2,2, 1., 2., 3., 4.);
Matrix A2 = Matrix_(2,2, 6., 0.2, 8., 0.4);
Matrix R = Matrix_(2,2, 0.1, 0.3, 0.0, 0.34);
Vector d(2); d << 0.2, 0.5;
GaussianConditional cg(0, d, R, 1, A1, 2, A2, ones(2));
// EXPECT(equalsObj(cg)); // FAILS: does not match
// EXPECT(equalsXML(cg)); // FAILS: does not match
}
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -325,7 +348,7 @@ BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Constraint, "gtsam::planarSLAM::Cons
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, planar_system) { TEST (Serialization, planar_system) {
using namespace planarSLAM;
Values values; Values values;
values.insert(PointKey(3), Point2(1.0, 2.0)); values.insert(PointKey(3), Point2(1.0, 2.0));
values.insert(PoseKey(4), Pose2(1.0, 2.0, 0.3)); values.insert(PoseKey(4), Pose2(1.0, 2.0, 0.3));
@ -375,8 +398,43 @@ TEST (Serialization, planar_system) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
int main() { /* Create GUIDs for factors */
TestResult tr; BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PoseConstraint, "gtsam::visualSLAM::PoseConstraint");
return TestRegistry::runAllTests(tr); BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PointConstraint, "gtsam::visualSLAM::PointConstraint");
} BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PosePrior, "gtsam::visualSLAM::PosePrior");
BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PointPrior, "gtsam::visualSLAM::PointPrior");
BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::ProjectionFactor,"gtsam::visualSLAM::ProjectionFactor");
BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::StereoFactor, "gtsam::visualSLAM::StereoFactor");
/* ************************************************************************* */
TEST (Serialization, visual_system) {
using namespace visualSLAM;
Values values;
PoseKey x1(1), x2(2);
PointKey l1(1), l2(2);
Pose3 pose1 = pose3, pose2 = pose3.inverse();
Point3 pt1(1.0, 2.0, 3.0), pt2(4.0, 5.0, 6.0);
values.insert(x1, pose1);
values.insert(l1, pt1);
SharedGaussian model2 = noiseModel::Isotropic::Sigma(2, 0.3);
SharedGaussian model3 = noiseModel::Isotropic::Sigma(3, 0.3);
SharedGaussian model6 = noiseModel::Isotropic::Sigma(6, 0.3);
boost::shared_ptr<Cal3_S2> K(new Cal3_S2(cal1));
Graph graph;
graph.addMeasurement(Point2(1.0, 2.0), model2, x1, l1, K);
graph.addPointConstraint(1, pt1);
graph.addPointPrior(1, pt2, model3);
graph.addPoseConstraint(1, pose1);
graph.addPosePrior(1, pose3, model6);
EXPECT(equalsObj(values));
EXPECT(equalsObj(graph));
EXPECT(equalsXML(values));
EXPECT(equalsXML(graph));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */ /* ************************************************************************* */