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fixing xml serialization issues

release/4.3a0
Ayush Baid 2021-01-04 00:02:21 +05:30
parent c46e3dbee6
commit e0cda60b9b
2 changed files with 86 additions and 86 deletions
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160
gtsam/slam/dataset.h
View File

@ -29,11 +29,10 @@
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/base/serialization.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/types.h>
#include <boost/serialization/vector.hpp>
#include <boost/smart_ptr/shared_ptr.hpp>
#include <string>
#include <utility> // for pair
@ -218,94 +217,95 @@ typedef std::pair<size_t, Point2> SfmMeasurement;
typedef std::pair<size_t, size_t> SiftIndex;
/// Define the structure for the 3D points
struct SfmTrack {
SfmTrack(): p(0,0,0) {}
SfmTrack(const gtsam::Point3& pt) : p(pt) {}
Point3 p; ///< 3D position of the point
float r, g, b; ///< RGB color of the 3D point
std::vector<SfmMeasurement> measurements; ///< The 2D image projections (id,(u,v))
std::vector<SiftIndex> siftIndices;
class GTSAM_EXPORT SfmTrack {
public:
SfmTrack(): p(0,0,0) {}
SfmTrack(const gtsam::Point3& pt) : p(pt) {}
Point3 p; ///< 3D position of the point
float r, g, b; ///< RGB color of the 3D point
std::vector<SfmMeasurement> measurements; ///< The 2D image projections (id,(u,v))
std::vector<SiftIndex> siftIndices;
/// Total number of measurements in this track
size_t number_measurements() const {
return measurements.size();
}
/// Get the measurement (camera index, Point2) at pose index `idx`
SfmMeasurement measurement(size_t idx) const {
return measurements[idx];
}
/// Get the SIFT feature index corresponding to the measurement at `idx`
SiftIndex siftIndex(size_t idx) const {
return siftIndices[idx];
}
/// Get 3D point
const Point3& point3() const {
return p;
}
/// Add measurement (camera_idx, Point2) to track
void add_measurement(size_t idx, const gtsam::Point2& m) {
measurements.emplace_back(idx, m);
}
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & p;
ar & r;
ar & g;
ar & b;
ar & measurements;
ar & siftIndices;
}
/// assert equality up to a tolerance
bool equals(const SfmTrack &sfmTrack, double tol = 1e-9) const {
// check the 3D point
if (!p.isApprox(sfmTrack.p)) {
return false;
/// Total number of measurements in this track
size_t number_measurements() const {
return measurements.size();
}
/// Get the measurement (camera index, Point2) at pose index `idx`
SfmMeasurement measurement(size_t idx) const {
return measurements[idx];
}
/// Get the SIFT feature index corresponding to the measurement at `idx`
SiftIndex siftIndex(size_t idx) const {
return siftIndices[idx];
}
/// Get 3D point
const Point3& point3() const {
return p;
}
/// Add measurement (camera_idx, Point2) to track
void add_measurement(size_t idx, const gtsam::Point2& m) {
measurements.emplace_back(idx, m);
}
// check the RGB values
if (r!=sfmTrack.r || g!=sfmTrack.g || b!=sfmTrack.b) {
return false;
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(p);
ar & BOOST_SERIALIZATION_NVP(r);
ar & BOOST_SERIALIZATION_NVP(g);
ar & BOOST_SERIALIZATION_NVP(b);
ar & BOOST_SERIALIZATION_NVP(measurements);
ar & BOOST_SERIALIZATION_NVP(siftIndices);
}
// compare size of vectors for measurements and siftIndices
if (number_measurements() != sfmTrack.number_measurements() ||
siftIndices.size() != sfmTrack.siftIndices.size()) {
return false;
}
// compare measurements (order sensitive)
for (size_t idx = 0; idx < number_measurements(); ++idx) {
SfmMeasurement measurement = measurements[idx];
SfmMeasurement otherMeasurement = sfmTrack.measurements[idx];
if (measurement.first != otherMeasurement.first ||
!measurement.second.isApprox(otherMeasurement.second)) {
/// assert equality up to a tolerance
bool equals(const SfmTrack &sfmTrack, double tol = 1e-9) const {
// check the 3D point
if (!p.isApprox(sfmTrack.p)) {
return false;
}
}
// compare sift indices (order sensitive)
for (size_t idx = 0; idx < siftIndices.size(); ++idx) {
SiftIndex index = siftIndices[idx];
SiftIndex otherIndex = sfmTrack.siftIndices[idx];
if (index.first != otherIndex.first ||
index.second != otherIndex.second) {
// check the RGB values
if (r!=sfmTrack.r || g!=sfmTrack.g || b!=sfmTrack.b) {
return false;
}
// compare size of vectors for measurements and siftIndices
if (number_measurements() != sfmTrack.number_measurements() ||
siftIndices.size() != sfmTrack.siftIndices.size()) {
return false;
}
// compare measurements (order sensitive)
for (size_t idx = 0; idx < number_measurements(); ++idx) {
SfmMeasurement measurement = measurements[idx];
SfmMeasurement otherMeasurement = sfmTrack.measurements[idx];
if (measurement.first != otherMeasurement.first ||
!measurement.second.isApprox(otherMeasurement.second)) {
return false;
}
}
// compare sift indices (order sensitive)
for (size_t idx = 0; idx < siftIndices.size(); ++idx) {
SiftIndex index = siftIndices[idx];
SiftIndex otherIndex = sfmTrack.siftIndices[idx];
if (index.first != otherIndex.first ||
index.second != otherIndex.second) {
return false;
}
}
return true;
}
return true;
}
/// print
void print(const std::string& s = "") const {
cout << "Track with " << measurements.size() << "measurements\n";
}
/// print
void print(const std::string& s = "") const {
cout << "Track with " << measurements.size() << "measurements\n";
}
};
/* ************************************************************************* */
@ -350,8 +350,8 @@ struct SfmData {
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int /*version*/) {
ar & cameras;
ar & tracks;
ar & BOOST_SERIALIZATION_NVP(cameras);
ar & BOOST_SERIALIZATION_NVP(tracks);
}
/// @}

12
gtsam/slam/tests/testSerializationDataset.cpp
View File

@ -26,19 +26,19 @@ using namespace gtsam;
using namespace gtsam::serializationTestHelpers;
/* ************************************************************************* */
TEST(dataSet, sfmDataSerialization){
TEST(dataSet, sfmDataSerialization) {
// Test the serialization of SfmData
const string filename = findExampleDataFile("dubrovnik-3-7-pre");
SfmData mydata;
CHECK(readBAL(filename, mydata));
EXPECT(equalsObj(mydata));
// EXPECT(equalsXML(mydata));
// EXPECT(equalsBinary(mydata));
EXPECT(equalsXML(mydata));
EXPECT(equalsBinary(mydata));
}
/* ************************************************************************* */
TEST(dataSet, sfmTrackSerialization){
TEST(dataSet, sfmTrackSerialization) {
// Test the serialization of SfmTrack
const string filename = findExampleDataFile("dubrovnik-3-7-pre");
SfmData mydata;
@ -47,8 +47,8 @@ TEST(dataSet, sfmTrackSerialization){
SfmTrack track = mydata.track(0);
EXPECT(equalsObj(track));
// EXPECT(equalsXML(track));
// EXPECT(equalsBinary(track));
EXPECT(equalsXML(track));
EXPECT(equalsBinary(track));
}
/* ************************************************************************* */