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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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22
gtsam/slam/dataset.h
View File

@ -29,11 +29,10 @@
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h> #include <gtsam/nonlinear/Values.h>
#include <gtsam/linear/NoiseModel.h> #include <gtsam/linear/NoiseModel.h>
#include <gtsam/base/serialization.h>
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/base/types.h> #include <gtsam/base/types.h>
#include <boost/serialization/vector.hpp>
#include <boost/smart_ptr/shared_ptr.hpp> #include <boost/smart_ptr/shared_ptr.hpp>
#include <string> #include <string>
#include <utility> // for pair #include <utility> // for pair
@ -218,7 +217,8 @@ typedef std::pair<size_t, Point2> SfmMeasurement;
typedef std::pair<size_t, size_t> SiftIndex; typedef std::pair<size_t, size_t> SiftIndex;
/// Define the structure for the 3D points /// Define the structure for the 3D points
struct SfmTrack { class GTSAM_EXPORT SfmTrack {
public:
SfmTrack(): p(0,0,0) {} SfmTrack(): p(0,0,0) {}
SfmTrack(const gtsam::Point3& pt) : p(pt) {} SfmTrack(const gtsam::Point3& pt) : p(pt) {}
Point3 p; ///< 3D position of the point Point3 p; ///< 3D position of the point
@ -251,12 +251,12 @@ struct SfmTrack {
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) { void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & p; ar & BOOST_SERIALIZATION_NVP(p);
ar & r; ar & BOOST_SERIALIZATION_NVP(r);
ar & g; ar & BOOST_SERIALIZATION_NVP(g);
ar & b; ar & BOOST_SERIALIZATION_NVP(b);
ar & measurements; ar & BOOST_SERIALIZATION_NVP(measurements);
ar & siftIndices; ar & BOOST_SERIALIZATION_NVP(siftIndices);
} }
/// assert equality up to a tolerance /// assert equality up to a tolerance
@ -350,8 +350,8 @@ struct SfmData {
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int /*version*/) { void serialize(Archive & ar, const unsigned int /*version*/) {
ar & cameras; ar & BOOST_SERIALIZATION_NVP(cameras);
ar & tracks; ar & BOOST_SERIALIZATION_NVP(tracks);
} }
/// @} /// @}

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

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