From cdc121cf7da30408aed14a05f24924ad98c07a7e Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Fri, 17 Oct 2014 14:25:42 -0400
Subject: [PATCH] add in testSerialization

---
 gtsam/geometry/Cal3Unified.h                       | 2 +-
 gtsam/geometry/tests/testSerializationGeometry.cpp | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index 750d2ed73..03db6af9a 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -90,7 +90,7 @@ public:
   /**
    * convert intrinsic coordinates xy to image coordinates uv
    * @param p point in intrinsic coordinates
-   * @param Dcal optional 2*9 Jacobian wrpt Cal3DS2 parameters
+   * @param Dcal optional 2*10 Jacobian wrpt Cal3Unified parameters
    * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
    * @return point in image coordinates
    */
diff --git a/gtsam/geometry/tests/testSerializationGeometry.cpp b/gtsam/geometry/tests/testSerializationGeometry.cpp
index 95001a033..a7e792cb8 100644
--- a/gtsam/geometry/tests/testSerializationGeometry.cpp
+++ b/gtsam/geometry/tests/testSerializationGeometry.cpp
@@ -25,6 +25,7 @@
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3DS2.h>
 #include <gtsam/geometry/Cal3Bundler.h>
+#include <gtsam/geometry/Cal3Unified.h>
 #include <gtsam/geometry/StereoCamera.h>
 #include <gtsam/geometry/StereoPoint2.h>
 
@@ -46,6 +47,7 @@ static Cal3Bundler cal3(1.0, 2.0, 3.0);
 static Cal3_S2Stereo cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
 static Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4));
 static CalibratedCamera cal5(Pose3(rt3, pt3));
+static Cal3Unified cal6(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0);
 
 static PinholeCamera<Cal3_S2> cam1(pose3, cal1);
 static StereoCamera cam2(pose3, cal4ptr);
@@ -66,6 +68,7 @@ TEST (Serialization, text_geometry) {
   EXPECT(equalsObj(cal3));
   EXPECT(equalsObj(cal4));
   EXPECT(equalsObj(cal5));
+  EXPECT(equalsObj(cal6));
 
   EXPECT(equalsObj(cam1));
   EXPECT(equalsObj(cam2));