Added more serialization - geometry is done, jacobian and hessian factors done, visual system done. Split projection factor out from visual SLAM into separate header
Alex Cunningham
parent
29e2ee8d9d
commit
c44315fec8
416
.cproject
416
.cproject
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@ -322,6 +322,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -348,7 +356,6 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -356,7 +363,6 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -404,7 +410,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -412,7 +417,6 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -420,7 +424,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -436,20 +439,11 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -474,16 +468,9 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianISAM2.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianISAM2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -529,14 +516,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testSQP.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testSQP.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testSubgraphPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -561,38 +540,17 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBayesNetPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testBayesNetPreconditioner.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testConstraintOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testConstraintOptimizer.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testInference.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildTarget>testGaussianBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -600,6 +558,7 @@
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</target>
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<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -607,6 +566,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -614,6 +574,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -635,6 +596,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testSerialization.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testSerialization.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -675,6 +644,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -699,14 +676,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -763,14 +732,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>vSFMexample.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/gtsam/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -779,6 +740,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>vSFMexample.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -981,7 +950,6 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1365,6 +1333,7 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1404,6 +1373,7 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1411,6 +1381,7 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1602,6 +1573,7 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1623,46 +1595,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>dist</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1759,6 +1691,54 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -1791,14 +1771,6 @@
|
|||
<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>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cconfiguration>
|
||||
|
|
@ -2121,6 +2093,14 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2147,7 +2127,6 @@
|
|||
</target>
|
||||
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testBayesTree.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2155,7 +2134,6 @@
|
|||
</target>
|
||||
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testBinaryBayesNet.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2203,7 +2181,6 @@
|
|||
</target>
|
||||
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicBayesNet.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2211,7 +2188,6 @@
|
|||
</target>
|
||||
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2219,7 +2195,6 @@
|
|||
</target>
|
||||
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2235,20 +2210,11 @@
|
|||
</target>
|
||||
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testBayesTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2273,16 +2239,9 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2328,14 +2287,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2360,38 +2311,17 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testInference.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testGaussianFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2399,6 +2329,7 @@
|
|||
</target>
|
||||
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testJunctionTree.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2406,6 +2337,7 @@
|
|||
</target>
|
||||
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicBayesNet.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2413,6 +2345,7 @@
|
|||
</target>
|
||||
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2434,6 +2367,14 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2474,6 +2415,14 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2498,14 +2447,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2562,14 +2503,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2578,6 +2511,14 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2780,7 +2721,6 @@
|
|||
</target>
|
||||
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testErrors.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -3164,6 +3104,7 @@
|
|||
</target>
|
||||
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2DOriented.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -3203,6 +3144,7 @@
|
|||
</target>
|
||||
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -3210,6 +3152,7 @@
|
|||
</target>
|
||||
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated3D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -3401,6 +3344,7 @@
|
|||
</target>
|
||||
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testGaussianISAM2</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -3422,46 +3366,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -3558,6 +3462,54 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -3590,14 +3542,6 @@
|
|||
<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>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cconfiguration>
|
||||
|
|
|
|||
|
|
@ -489,7 +489,7 @@ Matrix expm(const Matrix& A, size_t K=7);
|
|||
namespace boost {
|
||||
namespace serialization {
|
||||
|
||||
// split version - sends sizes ahead
|
||||
// split version for Row-major matrix - sends sizes ahead
|
||||
template<class Archive>
|
||||
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());
|
||||
}
|
||||
|
||||
// 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 boost
|
||||
|
||||
BOOST_SERIALIZATION_SPLIT_FREE(Matrix)
|
||||
BOOST_SERIALIZATION_SPLIT_FREE(MatrixColMajor)
|
||||
|
||||
|
|
|
|||
|
|
@ -288,6 +288,18 @@ protected:
|
|||
|
||||
template<class OTHER> friend class SymmetricBlockView;
|
||||
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 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_);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -38,6 +38,10 @@ namespace gtsam {
|
|||
public:
|
||||
SimpleCamera(const Cal3_S2& K, const CalibratedCamera& calibrated);
|
||||
SimpleCamera(const Cal3_S2& K, const Pose3& pose);
|
||||
|
||||
/** constructor for serialization */
|
||||
SimpleCamera(){}
|
||||
|
||||
virtual ~SimpleCamera();
|
||||
|
||||
const Pose3& pose() const {
|
||||
|
|
@ -73,6 +77,19 @@ namespace gtsam {
|
|||
boost::optional<Matrix&> H1 = boost::none,
|
||||
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_);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -55,7 +55,7 @@ namespace gtsam {
|
|||
}
|
||||
|
||||
/** 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_
|
||||
- q.v_) < tol);
|
||||
}
|
||||
|
|
@ -120,6 +120,16 @@ namespace gtsam {
|
|||
inline StereoPoint2 between(const StereoPoint2& p2) const {
|
||||
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_);
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -88,6 +88,13 @@ namespace gtsam {
|
|||
*/
|
||||
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);
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -26,11 +26,6 @@
|
|||
#include <boost/assign/std/vector.hpp> // for operator +=
|
||||
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
|
||||
|
||||
#include <gtsam/inference/BinaryConditional.h>
|
||||
|
|
|
|||
|
|
@ -149,20 +149,18 @@ protected:
|
|||
friend class JacobianFactor;
|
||||
|
||||
private:
|
||||
// /** Serialization function */
|
||||
// friend class boost::serialization::access;
|
||||
// template<class Archive>
|
||||
// void serialize(Archive & ar, const unsigned int version) {
|
||||
// ar & boost::serialization::make_nvp("Conditional", boost::serialization::base_object<Conditional>(*this));
|
||||
// ar & BOOST_SERIALIZATION_NVP(R_);
|
||||
// ar & BOOST_SERIALIZATION_NVP(parents_);
|
||||
// ar & BOOST_SERIALIZATION_NVP(d_);
|
||||
// ar & BOOST_SERIALIZATION_NVP(sigmas_);
|
||||
// }
|
||||
/** Serialization function */
|
||||
friend class boost::serialization::access;
|
||||
template<class Archive>
|
||||
void serialize(Archive & ar, const unsigned int version) {
|
||||
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(IndexConditional);
|
||||
ar & BOOST_SERIALIZATION_NVP(matrix_);
|
||||
ar & BOOST_SERIALIZATION_NVP(rsd_);
|
||||
ar & BOOST_SERIALIZATION_NVP(sigmas_);
|
||||
}
|
||||
}; // GaussianConditional
|
||||
|
||||
/* ************************************************************************* */
|
||||
// TODO: constructor outside class???
|
||||
template<typename ITERATOR, class MATRIX>
|
||||
GaussianConditional::GaussianConditional(ITERATOR firstKey, ITERATOR lastKey,
|
||||
size_t nrFrontals, const VerticalBlockView<MATRIX>& matrices,
|
||||
|
|
|
|||
|
|
@ -156,6 +156,7 @@ namespace gtsam {
|
|||
friend class boost::serialization::access;
|
||||
template<class ARCHIVE>
|
||||
void serialize(ARCHIVE & ar, const unsigned int version) {
|
||||
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(GaussianFactor);
|
||||
ar & BOOST_SERIALIZATION_NVP(info_);
|
||||
ar & BOOST_SERIALIZATION_NVP(matrix_);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -250,6 +250,7 @@ namespace gtsam {
|
|||
friend class boost::serialization::access;
|
||||
template<class ARCHIVE>
|
||||
void serialize(ARCHIVE & ar, const unsigned int version) {
|
||||
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(GaussianFactor);
|
||||
ar & BOOST_SERIALIZATION_NVP(firstNonzeroBlocks_);
|
||||
ar & BOOST_SERIALIZATION_NVP(Ab_);
|
||||
ar & BOOST_SERIALIZATION_NVP(model_);
|
||||
|
|
|
|||
|
|
@ -18,13 +18,6 @@
|
|||
#include <CppUnitLite/TestHarness.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/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);}
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -22,13 +22,6 @@
|
|||
#include <boost/assign/std/vector.hpp>
|
||||
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 <gtsam/base/Matrix.h>
|
||||
#include <gtsam/linear/VectorBTree.h>
|
||||
|
|
@ -285,33 +278,6 @@ TEST( VectorBTree, subVector) {
|
|||
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() {
|
||||
TestResult tr;
|
||||
|
|
|
|||
|
|
@ -19,13 +19,6 @@
|
|||
#include <iostream>
|
||||
#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
|
||||
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
|
@ -224,32 +217,6 @@ TEST( VectorMap, getReference) {
|
|||
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); }
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@ sources += pose3SLAM.cpp
|
|||
check_PROGRAMS += tests/testPose3Factor tests/testPose3Values tests/testPose3SLAM
|
||||
|
||||
# Visual SLAM
|
||||
headers += GeneralSFMFactor.h
|
||||
headers += GeneralSFMFactor.h ProjectionFactor.h
|
||||
sources += visualSLAM.cpp
|
||||
check_PROGRAMS += tests/testVSLAMFactor tests/testVSLAMGraph tests/testVSLAMValues tests/testGeneralSFMFactor tests/testGeneralSFMFactor_Cal3Bundler
|
||||
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
@ -27,87 +27,11 @@
|
|||
#include <gtsam/nonlinear/NonlinearEquality.h>
|
||||
#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
||||
#include <gtsam/slam/PriorFactor.h>
|
||||
#include <gtsam/slam/ProjectionFactor.h>
|
||||
#include <gtsam/slam/StereoFactor.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_NVP(z_);
|
||||
ar & BOOST_SERIALIZATION_NVP(K_);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
namespace visualSLAM {
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -25,11 +25,6 @@
|
|||
#include <boost/assign/std/list.hpp> // for operator +=
|
||||
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
|
||||
|
||||
#include <gtsam/linear/GaussianBayesNet.h>
|
||||
|
|
@ -203,47 +198,6 @@ TEST( GaussianBayesNet, backSubstituteTranspose )
|
|||
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);}
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -137,22 +137,23 @@ bool equalsDereferencedXML(const T& input = T()) {
|
|||
|
||||
#include <gtsam/base/Matrix.h>
|
||||
#include <gtsam/base/Vector.h>
|
||||
#include <gtsam/geometry/Point2.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/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/pose3SLAM.h>
|
||||
#include <gtsam/slam/visualSLAM.h>
|
||||
#include <gtsam/slam/BearingFactor.h>
|
||||
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
using namespace planarSLAM;
|
||||
|
||||
/* ************************************************************************* */
|
||||
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)));
|
||||
}
|
||||
|
||||
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) {
|
||||
EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0)));
|
||||
EXPECT(equalsObj<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
|
||||
EXPECT(equalsObj<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(equalsObj<gtsam::Point3>(pt3));
|
||||
EXPECT(equalsObj(pt3));
|
||||
EXPECT(equalsObj<gtsam::Rot3>(rt3));
|
||||
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::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::Rot3>(rt3));
|
||||
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>
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST (Serialization, text_linear) {
|
||||
TEST (Serialization, linear) {
|
||||
vector<size_t> dims;
|
||||
dims.push_back(1);
|
||||
dims.push_back(2);
|
||||
|
|
@ -281,26 +313,6 @@ TEST (Serialization, text_linear) {
|
|||
double v[] = {1., 2., 3., 4., 5.};
|
||||
VectorValues values(dims, v);
|
||||
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));
|
||||
|
||||
Index i1 = 4, i2 = 7;
|
||||
|
|
@ -308,10 +320,21 @@ TEST (Serialization, xml_linear) {
|
|||
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));
|
||||
EXPECT(equalsObj(jacobianfactor));
|
||||
EXPECT(equalsXML(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) {
|
||||
|
||||
using namespace planarSLAM;
|
||||
Values values;
|
||||
values.insert(PointKey(3), Point2(1.0, 2.0));
|
||||
values.insert(PoseKey(4), Pose2(1.0, 2.0, 0.3));
|
||||
|
|
@ -375,8 +398,43 @@ TEST (Serialization, planar_system) {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* Create GUIDs for factors */
|
||||
BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PoseConstraint, "gtsam::visualSLAM::PoseConstraint");
|
||||
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); }
|
||||
/* ************************************************************************* */
|
||||
|
|
|
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Loading…
Reference in New Issue