72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testSerializationNonlinear.cpp
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* @brief
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* @author Richard Roberts
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* @date Feb 7, 2012
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*/
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Cal3DS2.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam/base/serializationTestHelpers.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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using namespace gtsam::serializationTestHelpers;
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/* ************************************************************************* */
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// Export all classes derived from Value
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BOOST_CLASS_EXPORT(gtsam::Cal3_S2)
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BOOST_CLASS_EXPORT(gtsam::Cal3Bundler)
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BOOST_CLASS_EXPORT(gtsam::Point3)
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BOOST_CLASS_EXPORT(gtsam::Pose3)
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BOOST_CLASS_EXPORT(gtsam::Rot3)
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BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3_S2>)
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BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3DS2>)
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BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3Bundler>)
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/* ************************************************************************* */
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typedef PinholeCamera<Cal3_S2> PinholeCal3S2;
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typedef PinholeCamera<Cal3DS2> PinholeCal3DS2;
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typedef PinholeCamera<Cal3Bundler> PinholeCal3Bundler;
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/* ************************************************************************* */
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static Point3 pt3(1.0, 2.0, 3.0);
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static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
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static Pose3 pose3(rt3, pt3);
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static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5);
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static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0);
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static Cal3Bundler cal3(1.0, 2.0, 3.0);
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TEST (Serialization, TemplatedValues) {
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Values values;
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values.insert(Symbol('a',0), PinholeCal3S2(pose3, cal1));
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values.insert(Symbol('s',5), PinholeCal3DS2(pose3, cal2));
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values.insert(Symbol('d',47), PinholeCal3Bundler(pose3, cal3));
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values.insert(Symbol('a',5), PinholeCal3S2(pose3, cal1));
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EXPECT(equalsObj(values));
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EXPECT(equalsXML(values));
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EXPECT(equalsBinary(values));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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