Reworked testSerialization so that it works for geometry and simple planar objects. Currently only tested in boost 1.40, probably doesn't work under boost 1.44
Alex Cunningham
parent
a461680a2b
commit
f594ebf562
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@ -13,9 +13,9 @@
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#include <string>
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// includes for standard serialization types
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//#include <boost/serialization/vector.hpp>
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//#include <boost/serialization/map.hpp>
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//#include <boost/serialization/list.hpp>
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#include <boost/serialization/vector.hpp>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/list.hpp>
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/archive/text_iarchive.hpp>
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@ -28,33 +28,28 @@ const bool verbose = false;
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// Templated round-trip serialization
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template<class T>
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void roundtrip(const T& input, T& output) {
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// Serialize
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std::ostringstream out_archive_stream;
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{
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boost::archive::text_oarchive out_archive(out_archive_stream);
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out_archive << input;
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}
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// Convert to string
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std::string serialized = out_archive_stream.str();
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if (verbose) std::cout << serialized << std::endl << std::endl;
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// De-serialize
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{
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std::istringstream in_archive_stream(serialized);
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boost::archive::text_iarchive in_archive(in_archive_stream);
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in_archive >> output;
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}
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}
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// This version requires equality operator
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template<class T>
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bool equality() {
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T input;
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T output;
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roundtrip<T>(input,output);
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return input==output;
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}
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template<class T>
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bool equality(const T& input) {
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bool equality(const T& input = T()) {
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T output;
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roundtrip<T>(input,output);
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return input==output;
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@ -62,15 +57,7 @@ bool equality(const T& input) {
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// This version requires equals
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template<class T>
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bool equalsEmpty() {
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T input;
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T output;
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roundtrip<T>(input,output);
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return input.equals(output);
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}
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template<class T>
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bool equalsObj(const T& input) {
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bool equalsObj(const T& input = T()) {
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T output;
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roundtrip<T>(input,output);
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return input.equals(output);
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@ -88,33 +75,27 @@ bool equalsDereferenced(const T& input) {
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// Templated round-trip serialization using XML
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template<class T>
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void roundtripXML(const T& input, T& output) {
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// Serialize
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std::string serialized;
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{
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std::ostringstream out_archive_stream;
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boost::archive::xml_oarchive out_archive(out_archive_stream);
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out_archive << BOOST_SERIALIZATION_NVP(input);
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out_archive << boost::serialization::make_nvp("data", input);
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// Convert to string
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std::string serialized = out_archive_stream.str();
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serialized = out_archive_stream.str();
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}
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if (verbose) std::cout << serialized << std::endl << std::endl;
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// De-serialize
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std::istringstream in_archive_stream(serialized);
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boost::archive::xml_iarchive in_archive(in_archive_stream);
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in_archive >> BOOST_SERIALIZATION_NVP(output);
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in_archive >> boost::serialization::make_nvp("data", output);
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}
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// This version requires equality operator
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template<class T>
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bool equalityXML() {
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T input;
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T output;
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roundtripXML<T>(input,output);
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return input==output;
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}
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template<class T>
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bool equalityXML(const T& input) {
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bool equalityXML(const T& input = T()) {
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T output;
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roundtripXML<T>(input,output);
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return input==output;
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@ -122,15 +103,7 @@ bool equalityXML(const T& input) {
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// This version requires equals
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template<class T>
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bool equalsXML() {
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T input;
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T output;
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roundtripXML<T>(input,output);
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return input.equals(output);
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}
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template<class T>
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bool equalsXML(const T& input) {
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bool equalsXML(const T& input = T()) {
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T output;
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roundtripXML<T>(input,output);
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return input.equals(output);
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@ -141,79 +114,71 @@ bool equalsXML(const T& input) {
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/* ************************************************************************* */
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#include <gtsam/geometry/Point2.h>
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//#include <gtsam/geometry/Pose2.h>
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//#include <gtsam/geometry/Rot2.h>
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//#include <gtsam/geometry/Point3.h>
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//#include <gtsam/geometry/Pose3.h>
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//#include <gtsam/geometry/Rot3.h>
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//#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Rot2.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Rot3.h>
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#include <gtsam/geometry/Cal3_S2.h>
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//#include <gtsam/linear/VectorConfig.h>
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//#include <gtsam/inference/FactorGraph-inl.h>
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//#include <gtsam/linear/GaussianConditional.h>
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//#include <gtsam/inference/SymbolicConditional.h>
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#include <gtsam/slam/planarSLAM.h>
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#include <gtsam/CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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//TEST( Point2, equalsEmpty) { CHECK(equalsEmpty<gtsam::Point2>());}
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//TEST( VectorConfig, equalsEmpty) { CHECK(equalsEmpty<VectorConfig>());}
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//TEST( GaussianConditional, equalsEmpty) { CHECK(equalsEmpty<GaussianConditional>());}
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TEST (Serialization, text_geometry) {
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EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0)));
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EXPECT(equalsObj<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
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EXPECT(equalsObj<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
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EXPECT(equalsObj<gtsam::Point3>(Point3(1.0, 2.0, 3.0)));
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EXPECT(equalsObj<gtsam::Pose3>());
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EXPECT(equalsObj<gtsam::Rot3>(Rot3::RzRyRx(1.0, 3.0, 2.0)));
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}
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/* ************************************************************************* */
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// Testing XML
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TEST (Serialization, xml_geometry) {
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EXPECT(equalsXML<gtsam::Point2>(Point2(1.0, 2.0)));
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EXPECT(equalsXML<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
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EXPECT(equalsXML<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
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EXPECT(equalsXML<gtsam::Point3>(Point3(1.0, 2.0, 3.0)));
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EXPECT(equalsXML<gtsam::Pose3>());
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EXPECT(equalsXML<gtsam::Rot3>(Rot3::RzRyRx(1.0, 3.0, 2.0)));
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}
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/* ************************************************************************* */
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//TEST( Point2, equalsXML) { CHECK(equalsXML<gtsam::Point2>());}
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TEST (Serialization, text_linear) {
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// NOT WORKING:
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// EXPECT(equalsObj<VectorConfig>());
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// EXPECT(equalsObj<GaussianConditional>());
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}
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//TEST( VectorConfig, equalsXML) { CHECK(equalsXML<VectorConfig>());}
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//TEST( Cal3_S2, equalsXML) { CHECK(equalsXML<Cal3_S2>());}
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//TEST( GaussianConditional, equalsXML) { CHECK(equalsXML<GaussianConditional>());}
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//TEST( SymbolicConditional, equalsXML) { CHECK(equalsXML<SymbolicConditional>());}
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/* ************************************************************************* */
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TEST (Serialization, xml_linear) {
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// NOT WORKING:
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// EXPECT(equalsXML<VectorConfig>());
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// EXPECT(equalsXML<GaussianConditional>());
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}
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/* ************************************************************************* */
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TEST (Serialization, text_planar) {
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EXPECT(equalsObj<gtsam::planarSLAM::PoseKey>(gtsam::planarSLAM::PoseKey(2)));
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EXPECT(equalsObj<gtsam::planarSLAM::PointKey>(gtsam::planarSLAM::PointKey(2)));
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EXPECT(equalsObj<gtsam::planarSLAM::Config>());
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}
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// The two tests below will not run, however, as CameraMarkerFactor
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// is not registered by the serialization code in FactorGraph
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//TEST( FactorGraph, equals1)
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//{
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// FactorGraph<NonlinearFactor> graph;
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// graph.push_back(f);
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// CHECK(equalsObj(graph));
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//}
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//TEST( NonlinearFactorGraph, equals)
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//{
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// NonlinearFactorGraph graph;
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// graph.push_back(f);
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// CHECK(equalsObj(graph));
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//}
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// It *does* work if we explicitly instantiate with the factor type
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//TEST( FactorGraph, equals2)
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//{
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// FactorGraph<CameraMarkerFactor> graph;
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// graph.push_back(f);
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// CHECK(equalsObj(graph));
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//}
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// And, as we explicitly registered the three CameraMarkerFactor types in
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// the EasySLAMGraph serialize, this will also work :-))
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// see http://www.boost.org/doc/libs/1_35_0/libs/serialization/doc/serialization.html#derivedpointers
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//TEST( EasySLAMGraph, equals2)
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//{
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// EasySLAMGraph graph = createExampleGraph();
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// CHECK(equalsObj(graph));
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//}
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//
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//// EasySLAMConfig is no problem either:
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//TEST( EasySLAMConfig, equals2)
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//{
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// EasySLAMConfig c = createExampleConfig();
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// CHECK(equalsObj(c));
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//}
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/* ************************************************************************* */
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TEST (Serialization, xml_planar) {
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EXPECT(equalsXML<gtsam::planarSLAM::PoseKey>(gtsam::planarSLAM::PoseKey(2)));
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EXPECT(equalsXML<gtsam::planarSLAM::PointKey>(gtsam::planarSLAM::PointKey(2)));
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EXPECT(equalsXML<gtsam::planarSLAM::Config>());
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}
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/* ************************************************************************* */
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int main() {
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