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add in testSerialization

release/4.3a0
Jing Dong 2014-10-17 14:25:42 -04:00
parent 55bda50235
commit cdc121cf7d
2 changed files with 4 additions and 1 deletions
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2
gtsam/geometry/Cal3Unified.h
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@ -90,7 +90,7 @@ public:
/** /**
* convert intrinsic coordinates xy to image coordinates uv * convert intrinsic coordinates xy to image coordinates uv
* @param p point in intrinsic coordinates * @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 * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
* @return point in image coordinates * @return point in image coordinates
*/ */

3
gtsam/geometry/tests/testSerializationGeometry.cpp
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@ -25,6 +25,7 @@
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3DS2.h> #include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3Bundler.h> #include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3Unified.h>
#include <gtsam/geometry/StereoCamera.h> #include <gtsam/geometry/StereoCamera.h>
#include <gtsam/geometry/StereoPoint2.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 cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
static Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4)); static Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4));
static CalibratedCamera cal5(Pose3(rt3, pt3)); 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 PinholeCamera<Cal3_S2> cam1(pose3, cal1);
static StereoCamera cam2(pose3, cal4ptr); static StereoCamera cam2(pose3, cal4ptr);
@ -66,6 +68,7 @@ TEST (Serialization, text_geometry) {
EXPECT(equalsObj(cal3)); EXPECT(equalsObj(cal3));
EXPECT(equalsObj(cal4)); EXPECT(equalsObj(cal4));
EXPECT(equalsObj(cal5)); EXPECT(equalsObj(cal5));
EXPECT(equalsObj(cal6));
EXPECT(equalsObj(cam1)); EXPECT(equalsObj(cam1));
EXPECT(equalsObj(cam2)); EXPECT(equalsObj(cam2));