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Added equals function and serialization capability

release/4.3a0
Manohar Paluri 2009-11-17 01:19:55 +00:00
parent d24846d9a0
commit e4eaae4605
2 changed files with 23 additions and 1 deletions
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7
cpp/VSLAMGraph.cpp
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@ -78,6 +78,13 @@ VSLAMGraph::VSLAMGraph(const std::string& path)
ifs.close(); ifs.close();
} }
/* ************************************************************************* */
bool VSLAMGraph::equals(const VSLAMGraph& p, double tol) const {
if (&p == NULL) return false;
if (nFrames != p.nFrames || feat_ids != p.feat_ids ) return false;
return true;
}
/* ************************************************************************* */ /* ************************************************************************* */
bool compareLandmark(const std::string& key, bool compareLandmark(const std::string& key,
const VSLAMConfig& feasible, const VSLAMConfig& feasible,

17
cpp/VSLAMGraph.h
View File

@ -16,13 +16,14 @@
#include "FactorGraph-inl.h" #include "FactorGraph-inl.h"
#include "VSLAMFactor.h" #include "VSLAMFactor.h"
#include "VSLAMConfig.h" #include "VSLAMConfig.h"
#include "Testable.h"
namespace gtsam{ namespace gtsam{
/** /**
* Non-linear factor graph for visual SLAM * Non-linear factor graph for visual SLAM
*/ */
class VSLAMGraph : public gtsam::NonlinearFactorGraph<VSLAMConfig>{ class VSLAMGraph : public gtsam::NonlinearFactorGraph<VSLAMConfig>, Testable<VSLAMGraph>{
private: private:
int nFrames; int nFrames;
typedef map <int, int> feat_ids_type; typedef map <int, int> feat_ids_type;
@ -46,6 +47,11 @@ public:
gtsam::NonlinearFactorGraph<VSLAMConfig>::print(s); gtsam::NonlinearFactorGraph<VSLAMConfig>::print(s);
} }
/**
* equals
*/
bool equals(const VSLAMGraph&, double tol=1e-9) const;
// Getters // Getters
int Get_nFrames(){return nFrames;}; int Get_nFrames(){return nFrames;};
int Get_nFeat_ids(){return feat_ids.size();}; int Get_nFeat_ids(){return feat_ids.size();};
@ -57,6 +63,15 @@ public:
* @param p to which point to constrain it to * @param p to which point to constrain it to
*/ */
void addLandmarkConstraint(int j, const Point3& p = Point3()); void addLandmarkConstraint(int j, const Point3& p = Point3());
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(nFrames);
ar & BOOST_SERIALIZATION_NVP(feat_ids);
}
}; };
} // namespace gtsam } // namespace gtsam