59 lines
1.9 KiB
C++
59 lines
1.9 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 testSerializationDataset.cpp
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* @brief serialization tests for dataset.cpp
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* @author Ayush Baid
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* @date Jan 1, 2021
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*/
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#include <gtsam/slam/dataset.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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TEST(dataSet, sfmDataSerialization) {
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// Test the serialization of SfmData
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const string filename = findExampleDataFile("dubrovnik-3-7-pre");
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SfmData mydata;
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CHECK(readBAL(filename, mydata));
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// round-trip equality check on serialization and subsequent deserialization
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EXPECT(equalsObj(mydata));
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EXPECT(equalsXML(mydata));
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EXPECT(equalsBinary(mydata));
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}
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/* ************************************************************************* */
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TEST(dataSet, sfmTrackSerialization) {
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// Test the serialization of SfmTrack
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const string filename = findExampleDataFile("dubrovnik-3-7-pre");
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SfmData mydata;
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CHECK(readBAL(filename, mydata));
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SfmTrack track = mydata.track(0);
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// round-trip equality check on serialization and subsequent deserialization
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EXPECT(equalsObj(track));
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EXPECT(equalsXML(track));
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EXPECT(equalsBinary(track));
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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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