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add Serialization function to Unit3 and EssentialMatrix classes

release/4.3a0
jing 2014-04-11 15:33:35 -04:00
parent e4f2d39a35
commit fe81828a2c
2 changed files with 45 additions and 0 deletions
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27
gtsam/geometry/EssentialMatrix.h
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@ -157,6 +157,33 @@ public:
/// @} /// @}
private:
/// @name Advanced Interface
/// @{
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("EssentialMatrix",
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(aRb_);
ar & BOOST_SERIALIZATION_NVP(aTb_);
ar & boost::serialization::make_nvp("E11", E_(0,0));
ar & boost::serialization::make_nvp("E12", E_(0,1));
ar & boost::serialization::make_nvp("E13", E_(0,2));
ar & boost::serialization::make_nvp("E21", E_(1,0));
ar & boost::serialization::make_nvp("E22", E_(1,1));
ar & boost::serialization::make_nvp("E23", E_(1,2));
ar & boost::serialization::make_nvp("E31", E_(2,0));
ar & boost::serialization::make_nvp("E32", E_(2,1));
ar & boost::serialization::make_nvp("E33", E_(2,2));
}
/// @}
}; };
} // gtsam } // gtsam

18
gtsam/geometry/Unit3.h
View File

@ -136,6 +136,24 @@ public:
Vector localCoordinates(const Unit3& s) const; Vector localCoordinates(const Unit3& s) const;
/// @} /// @}
private:
/// @name Advanced Interface
/// @{
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("Unit3",
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(p_);
ar & BOOST_SERIALIZATION_NVP(B_);
}
/// @}
}; };
} // namespace gtsam } // namespace gtsam