create backwards compatibility unit test for NoiseModelFactor1
Gerry Chen
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3addc8dfff
commit
c9dbb6e040
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<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
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<!DOCTYPE boost_serialization>
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<boost_serialization signature="serialization::archive" version="19">
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<data class_id="0" tracking_level="1" version="0" object_id="_0">
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<NoiseModelFactor1 class_id="1" tracking_level="0" version="0">
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<NoiseModelFactor class_id="2" tracking_level="0" version="0">
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<NonlinearFactor class_id="3" tracking_level="0" version="0">
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<keys_>
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<count>1</count>
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<item_version>0</item_version>
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<item>12345</item>
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</keys_>
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</NonlinearFactor>
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<noiseModel_ class_id="5" tracking_level="0" version="1">
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<px class_id="6" class_name="gtsam_noiseModel_Unit" tracking_level="1" version="0" object_id="_1">
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<Isotropic class_id="7" tracking_level="1" version="0" object_id="_2">
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<Diagonal class_id="8" tracking_level="1" version="0" object_id="_3">
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<Gaussian class_id="9" tracking_level="0" version="0">
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<Base class_id="10" tracking_level="0" version="0">
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<dim_>6</dim_>
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</Base>
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<sqrt_information_ class_id="11" tracking_level="0" version="1">
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<initialized>0</initialized>
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</sqrt_information_>
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</Gaussian>
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<sigmas_ class_id="12" tracking_level="0" version="0">
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<size>6</size>
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<data>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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</data>
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</sigmas_>
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<invsigmas_>
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<size>6</size>
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<data>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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<item>1.00000000000000000e+00</item>
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</data>
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</invsigmas_>
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</Diagonal>
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<sigma_>1.00000000000000000e+00</sigma_>
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<invsigma_>1.00000000000000000e+00</invsigma_>
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</Isotropic>
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</px>
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</noiseModel_>
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</NoiseModelFactor>
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</NoiseModelFactor1>
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<prior_ class_id="13" tracking_level="0" version="0">
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<R_ class_id="14" tracking_level="0" version="0">
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<rot11>4.11982245665682978e-01</rot11>
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<rot12>-8.33737651774156818e-01</rot12>
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<rot13>-3.67630462924899259e-01</rot13>
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<rot21>-5.87266449276209815e-02</rot21>
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<rot22>-4.26917621276207360e-01</rot22>
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<rot23>9.02381585483330806e-01</rot23>
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<rot31>-9.09297426825681709e-01</rot31>
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<rot32>-3.50175488374014632e-01</rot32>
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<rot33>-2.24845095366152908e-01</rot33>
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</R_>
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<t_ class_id="15" tracking_level="0" version="0">
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<data>
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<item>4.00000000000000000e+00</item>
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<item>5.00000000000000000e+00</item>
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<item>6.00000000000000000e+00</item>
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</data>
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</t_>
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</prior_>
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</data>
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</boost_serialization>
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@ -107,6 +107,59 @@ TEST (Serialization, TemplatedValues) {
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EXPECT(equalsBinary(values));
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EXPECT(equalsBinary(values));
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}
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}
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bool str_assert_equal(const string& expected, const string& actual) {
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if (actual == expected) return true;
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printf("Not equal:\n");
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std::cout << "expected:\n" << expected << std::endl;
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std::cout << "actual:\n" << actual << std::endl;
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return false;
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}
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TEST(Serialization, NoiseModelFactor1_backwards_compatibility) {
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PriorFactor<Pose3> factor(
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12345, Pose3(Rot3::RzRyRx(Vector3(1., 2., 3.)), Point3(4., 5., 6.)),
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noiseModel::Unit::Create(6));
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// String
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std::string actual_str = serialize(factor);
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// Generated from hash 3ba65669113f41d0e56a03b4b314047776bab5c4 (>4.2a4)
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std::string expected_str =
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"22 serialization::archive 19 1 0\n"
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"0 0 0 0 0 0 0 1 0 12345 0 1 6 21 gtsam_noiseModel_Unit 1 0\n"
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"1 1 0\n"
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"2 1 0\n"
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"3 0 0 0 0 6 0 1 0 0 0 6 1.00000000000000000e+00 1.00000000000000000e+00 "
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"1.00000000000000000e+00 1.00000000000000000e+00 1.00000000000000000e+00 "
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"1.00000000000000000e+00 6 1.00000000000000000e+00 "
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"1.00000000000000000e+00 1.00000000000000000e+00 1.00000000000000000e+00 "
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"1.00000000000000000e+00 1.00000000000000000e+00 1.00000000000000000e+00 "
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"1.00000000000000000e+00 0 0 0 0 4.11982245665682978e-01 "
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"-8.33737651774156818e-01 -3.67630462924899259e-01 "
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"-5.87266449276209815e-02 -4.26917621276207360e-01 "
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"9.02381585483330806e-01 -9.09297426825681709e-01 "
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"-3.50175488374014632e-01 -2.24845095366152908e-01 0 0 "
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"4.00000000000000000e+00 5.00000000000000000e+00 "
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"6.00000000000000000e+00\n";
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EXPECT(str_assert_equal(expected_str, actual_str));
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PriorFactor<Pose3> factor_deserialized_str = PriorFactor<Pose3>();
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deserializeFromString(expected_str, factor_deserialized_str);
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EXPECT(assert_equal(factor, factor_deserialized_str));
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// XML
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std::string actual_xml = serializeXML(factor);
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std::string expected_xml;
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{ // read from file
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// Generated from hash 3ba65669113f41d0e56a03b4b314047776bab5c4 (>4.2a4)
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std::ifstream f("priorFactor.xml");
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std::stringstream buffer;
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buffer << f.rdbuf();
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expected_xml = buffer.str();
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}
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EXPECT(str_assert_equal(expected_xml, actual_xml));
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PriorFactor<Pose3> factor_deserialized_xml = PriorFactor<Pose3>();
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deserializeFromXMLFile("priorFactor.xml", factor_deserialized_xml);
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EXPECT(assert_equal(factor, factor_deserialized_xml));
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}
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TEST(Serialization, ISAM2) {
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TEST(Serialization, ISAM2) {
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gtsam::ISAM2Params parameters;
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gtsam::ISAM2Params parameters;
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