Merge remote-tracking branch 'upstream/master'

Schweizer-Messer/sm_boost/include/boost/portable_binary_iarchive.hpp

@@ -29,15 +29,13 @@
 #include <boost/archive/detail/common_iarchive.hpp>
 #include <boost/version.hpp>
 
-// breaking changes in boost >=1.56
-#if BOOST_VERSION >= 105600
+#if BOOST_VERSION >= 105600 // see changes in https://github.com/boostorg/serialization/commit/75f09afc895ab09c4eb55d36fcf6f91ef4a0107a
 #include <boost/serialization/shared_ptr.hpp>
 #else
 #include <boost/archive/shared_ptr_helper.hpp>
 #endif
 
 #include <boost/archive/detail/register_archive.hpp>
-
 #include "portable_binary_archive.hpp"
 
 namespace boost {
@@ -88,10 +86,8 @@ class portable_binary_iarchive :
     >,
     public boost::archive::detail::common_iarchive<
         portable_binary_iarchive
-    >
-    ,
-// breaking changes in boost >=1.56
-#if BOOST_VERSION >= 105600
+    >,
+#if BOOST_VERSION >= 105600 // see changes in https://github.com/boostorg/serialization/commit/75f09afc895ab09c4eb55d36fcf6f91ef4a0107a
     public boost::serialization::shared_ptr_helper<boost::shared_ptr>
 #else
     public boost::archive::detail::shared_ptr_helper

aslam_cv/aslam_cameras/include/aslam/cameras/GridCalibrationTargetCheckerboard.hpp

@@ -25,15 +25,19 @@ class GridCalibrationTargetCheckerboard : public GridCalibrationTargetBase {
     CheckerboardOptions() :
       useAdaptiveThreshold(true),
       normalizeImage(true),
+      performFastCheck(true),
       filterQuads(false),
       doSubpixelRefinement(true),
-      showExtractionVideo(false) {};
+      showExtractionVideo(false),
+      windowWidth(11) {};
 
     /// \brief opencv options
     bool useAdaptiveThreshold;
     bool normalizeImage;
+    bool performFastCheck;
     bool filterQuads;
     bool doSubpixelRefinement;
+    unsigned int windowWidth;
 
     /// \brief show extracted corners
     bool showExtractionVideo;
@@ -46,18 +50,22 @@ class GridCalibrationTargetCheckerboard : public GridCalibrationTargetBase {
     {
        ar << BOOST_SERIALIZATION_NVP(useAdaptiveThreshold);
        ar << BOOST_SERIALIZATION_NVP(normalizeImage);
+       ar << BOOST_SERIALIZATION_NVP(performFastCheck);
        ar << BOOST_SERIALIZATION_NVP(filterQuads);
        ar << BOOST_SERIALIZATION_NVP(doSubpixelRefinement);
        ar << BOOST_SERIALIZATION_NVP(showExtractionVideo);
+       ar << BOOST_SERIALIZATION_NVP(windowWidth);
     }
     template<class Archive>
     void load(Archive & ar, const unsigned int /*version*/)
     {
        ar >> BOOST_SERIALIZATION_NVP(useAdaptiveThreshold);
        ar >> BOOST_SERIALIZATION_NVP(normalizeImage);
+       ar >> BOOST_SERIALIZATION_NVP(performFastCheck);
        ar >> BOOST_SERIALIZATION_NVP(filterQuads);
        ar >> BOOST_SERIALIZATION_NVP(doSubpixelRefinement);
        ar >> BOOST_SERIALIZATION_NVP(showExtractionVideo);
+       ar >> BOOST_SERIALIZATION_NVP(windowWidth);
     }
   };
 

aslam_cv/aslam_cameras/src/CameraGeometryBase.cpp

@@ -28,6 +28,10 @@ boost::shared_ptr<CameraGeometryBase> CameraGeometryBase::create(
     rval.reset(
         new CameraGeometry<PinholeProjection<EquidistantDistortion>,
             GlobalShutter, NoMask>(config));
+  } else if (type == "FovDistortedPinhole") {
+    rval.reset(
+        new CameraGeometry<PinholeProjection<FovDistortion>,
+            GlobalShutter, NoMask>(config));
   } else if (type == "Omni") {
     rval.reset(
         new CameraGeometry<OmniProjection<NoDistortion>, GlobalShutter, NoMask>(

aslam_cv/aslam_cameras/src/GridCalibrationTargetCheckerboard.cpp

@@ -78,7 +78,9 @@ bool GridCalibrationTargetCheckerboard::computeObservation(const cv::Mat & image
            Eigen::MatrixXd & outImagePoints, std::vector<bool> &outCornerObserved) const {
 
   // set the open cv flags
-  int flags = cv::CALIB_CB_FAST_CHECK;
+  int flags = 0;
+  if (_options.performFastCheck)
+    flags += cv::CALIB_CB_FAST_CHECK;
   if (_options.useAdaptiveThreshold)
     flags += cv::CALIB_CB_ADAPTIVE_THRESH;
   if ( _options.normalizeImage)
@@ -94,7 +96,7 @@ bool GridCalibrationTargetCheckerboard::computeObservation(const cv::Mat & image
   // do optional subpixel refinement
   if (_options.doSubpixelRefinement && success) {
     cv::cornerSubPix(
-        image, centers, cv::Size(11, 11), cv::Size(-1, -1),
+        image, centers, cv::Size(_options.windowWidth, _options.windowWidth), cv::Size(-1, -1),
         cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
   }
 
@@ -103,7 +105,8 @@ bool GridCalibrationTargetCheckerboard::computeObservation(const cv::Mat & image
     //image with refined (blue) and raw corners (red)
     cv::Mat imageCopy1 = image.clone();
     cv::cvtColor(imageCopy1, imageCopy1, CV_GRAY2RGB);
-    cv::drawChessboardCorners(imageCopy1, patternSize, centers, true);
+    cv::drawChessboardCorners(imageCopy1, cv::Size(rows(), cols()), centers,
+                              true);
 
     // write error msg
     if (!success)

aslam_cv/aslam_cv_python/src/GridCalibration.cpp

@@ -254,6 +254,8 @@ void exportGridCalibration() {
   class_<GridCalibrationTargetCheckerboard::CheckerboardOptions>("CheckerboardOptions", init<>())
     .def_readwrite("useAdaptiveThreshold", &GridCalibrationTargetCheckerboard::CheckerboardOptions::useAdaptiveThreshold)
     .def_readwrite("normalizeImage", &GridCalibrationTargetCheckerboard::CheckerboardOptions::normalizeImage)
+    .def_readwrite("performFastCheck", &GridCalibrationTargetCheckerboard::CheckerboardOptions::performFastCheck)
+    .def_readwrite("windowWidth", &GridCalibrationTargetCheckerboard::CheckerboardOptions::windowWidth)
     .def_readwrite("filterQuads", &GridCalibrationTargetCheckerboard::CheckerboardOptions::filterQuads)
     .def_readwrite("doSubpixelRefinement", &GridCalibrationTargetCheckerboard::CheckerboardOptions::doSubpixelRefinement)
     .def_readwrite("showExtractionVideo", &GridCalibrationTargetCheckerboard::CheckerboardOptions::showExtractionVideo)

aslam_cv/aslam_cv_serialization/autogen_cameras.cmake

@@ -3,29 +3,30 @@ SET( AUTOGEN_CAMERA_CPP_FILES
 	src/autogen/Camera-PinholeCameraGeometry.cpp
 	src/autogen/Camera-DistortedPinholeCameraGeometry.cpp
 	src/autogen/Camera-EquidistantDistortedPinholeCameraGeometry.cpp
+	src/autogen/Camera-FovDistortedPinholeCameraGeometry.cpp
 	src/autogen/Camera-OmniCameraGeometry.cpp
 	src/autogen/Camera-DistortedOmniCameraGeometry.cpp
 	src/autogen/Camera-EquidistantDistortedOmniCameraGeometry.cpp
-#	src/autogen/Camera-PinholeRsCameraGeometry.cpp
-#	src/autogen/Camera-DistortedPinholeRsCameraGeometry.cpp
-#	src/autogen/Camera-EquidistantDistortedPinholeRsCameraGeometry.cpp
-#	src/autogen/Camera-OmniRsCameraGeometry.cpp
-#	src/autogen/Camera-DistortedOmniRsCameraGeometry.cpp
-#	src/autogen/Camera-EquidistantDistortedOmniRsCameraGeometry.cpp
-#	src/autogen/Camera-MaskedPinholeCameraGeometry.cpp
-#	src/autogen/Camera-MaskedDistortedPinholeCameraGeometry.cpp
-#	src/autogen/Camera-MaskedEquidistantDistortedPinholeCameraGeometry.cpp
-#	src/autogen/Camera-MaskedOmniCameraGeometry.cpp
-#	src/autogen/Camera-MaskedDistortedOmniCameraGeometry.cpp
-#	src/autogen/Camera-MaskedEquidistantDistortedOmniCameraGeometry.cpp
-#	src/autogen/Camera-MaskedPinholeRsCameraGeometry.cpp
-#	src/autogen/Camera-MaskedDistortedPinholeRsCameraGeometry.cpp
-#	src/autogen/Camera-MaskedEquidistantDistortedPinholeRsCameraGeometry.cpp
-#	src/autogen/Camera-MaskedOmniRsCameraGeometry.cpp
-#	src/autogen/Camera-MaskedDistortedOmniRsCameraGeometry.cpp
-#	src/autogen/Camera-MaskedEquidistantDistortedOmniRsCameraGeometry.cpp
-#	src/autogen/Camera-DepthCameraGeometry.cpp
-#	src/autogen/Camera-DistortedDepthCameraGeometry.cpp
-#	src/autogen/Camera-EquidistantDistortedDepthCameraGeometry.cpp
+	src/autogen/Camera-PinholeRsCameraGeometry.cpp
+	src/autogen/Camera-DistortedPinholeRsCameraGeometry.cpp
+	src/autogen/Camera-EquidistantDistortedPinholeRsCameraGeometry.cpp
+	src/autogen/Camera-OmniRsCameraGeometry.cpp
+	src/autogen/Camera-DistortedOmniRsCameraGeometry.cpp
+	src/autogen/Camera-EquidistantDistortedOmniRsCameraGeometry.cpp
+	src/autogen/Camera-MaskedPinholeCameraGeometry.cpp
+	src/autogen/Camera-MaskedDistortedPinholeCameraGeometry.cpp
+	src/autogen/Camera-MaskedEquidistantDistortedPinholeCameraGeometry.cpp
+	src/autogen/Camera-MaskedOmniCameraGeometry.cpp
+	src/autogen/Camera-MaskedDistortedOmniCameraGeometry.cpp
+	src/autogen/Camera-MaskedEquidistantDistortedOmniCameraGeometry.cpp
+	src/autogen/Camera-MaskedPinholeRsCameraGeometry.cpp
+	src/autogen/Camera-MaskedDistortedPinholeRsCameraGeometry.cpp
+	src/autogen/Camera-MaskedEquidistantDistortedPinholeRsCameraGeometry.cpp
+	src/autogen/Camera-MaskedOmniRsCameraGeometry.cpp
+	src/autogen/Camera-MaskedDistortedOmniRsCameraGeometry.cpp
+	src/autogen/Camera-MaskedEquidistantDistortedOmniRsCameraGeometry.cpp
+	src/autogen/Camera-DepthCameraGeometry.cpp
+	src/autogen/Camera-DistortedDepthCameraGeometry.cpp
+	src/autogen/Camera-EquidistantDistortedDepthCameraGeometry.cpp
 )
 

aslam_cv/aslam_cv_serialization/autogen_frames.cmake

@@ -3,6 +3,7 @@ SET( AUTOGEN_FRAME_CPP_FILES
 	src/autogen/Frame-PinholeCameraGeometry.cpp
 	src/autogen/Frame-DistortedPinholeCameraGeometry.cpp
 	src/autogen/Frame-EquidistantDistortedPinholeCameraGeometry.cpp
+	src/autogen/Frame-FovDistortedPinholeCameraGeometry.cpp
 	src/autogen/Frame-OmniCameraGeometry.cpp
 	src/autogen/Frame-DistortedOmniCameraGeometry.cpp
 	src/autogen/Frame-EquidistantDistortedOmniCameraGeometry.cpp

aslam_cv/aslam_cv_serialization/gen_files.py

@@ -43,9 +43,7 @@
 """
 
 
-BOOST_SERIALIZATION_HEADERS="""
-
-// Standard serialization headers
+BOOST_SERIALIZATION_HEADERS="""// Standard serialization headers
 #include <boost/archive/text_oarchive.hpp>
 #include <boost/archive/text_iarchive.hpp>
 #include <boost/archive/binary_oarchive.hpp>
@@ -61,14 +59,14 @@
 FRAME_EXPORT="""
 namespace aslam {{
     
-template void Frame< aslam::cameras::{0} >::save<>(boost::archive::text_oarchive & ar, const unsigned int version) const;
-template void Frame< aslam::cameras::{0} >::load<>(boost::archive::text_iarchive & ar, const unsigned int version);
-template void Frame< aslam::cameras::{0} >::save<>(boost::archive::xml_oarchive & ar, const unsigned int version) const;
-template void Frame< aslam::cameras::{0} >::load<>(boost::archive::xml_iarchive & ar, const unsigned int version);
-template void Frame< aslam::cameras::{0} >::save<>(boost::archive::binary_oarchive & ar, const unsigned int version) const;
+template void Frame<aslam::cameras::{0} >::save<>(boost::archive::text_oarchive & ar, const unsigned int version) const;
+template void Frame<aslam::cameras::{0} >::load<>(boost::archive::text_iarchive & ar, const unsigned int version);
+template void Frame<aslam::cameras::{0} >::save<>(boost::archive::xml_oarchive & ar, const unsigned int version) const;
+template void Frame<aslam::cameras::{0} >::load<>(boost::archive::xml_iarchive & ar, const unsigned int version);
+template void Frame<aslam::cameras::{0} >::save<>(boost::archive::binary_oarchive & ar, const unsigned int version) const;
 template void Frame< aslam::cameras::{0} >::load<>(boost::archive::binary_iarchive & ar, const unsigned int version);
-template void Frame< aslam::cameras::{0} >::save<>(boost::archive::portable_binary_oarchive & ar, const unsigned int version) const;
-template void Frame< aslam::cameras::{0} >::load<>(boost::archive::portable_binary_iarchive & ar, const unsigned int version);
+template void Frame<aslam::cameras::{0} >::save<>(boost::archive::portable_binary_oarchive & ar, const unsigned int version) const;
+template void Frame<aslam::cameras::{0} >::load<>(boost::archive::portable_binary_iarchive & ar, const unsigned int version);
 
 }} // namespace aslam
 
@@ -77,6 +75,7 @@
 cameras = ["PinholeCameraGeometry",
            "DistortedPinholeCameraGeometry",
            "EquidistantDistortedPinholeCameraGeometry",
+           "FovDistortedPinholeCameraGeometry",
            "OmniCameraGeometry",
            "DistortedOmniCameraGeometry",
            "EquidistantDistortedOmniCameraGeometry",
@@ -107,7 +106,7 @@
 with open('include/aslam/cameras/CameraBaseSerialization.hpp','w') as outf:
     outf.write(CAMERA_FILE_HEADER)
     for cam in cameras:
-        outf.write( 'BOOST_CLASS_EXPORT_KEY( aslam::cameras::%s );\n' % cam )
+        outf.write( 'BOOST_CLASS_EXPORT_KEY(aslam::cameras::%s);\n' % cam )
     outf.write( '\n\n' )
 
 # write the individual camera class files
@@ -118,7 +117,7 @@
     with open(fname,'w') as outf:
         outf.write('#include <aslam/cameras/CameraBaseSerialization.hpp>\n\n')
         outf.write(BOOST_SERIALIZATION_HEADERS)
-        outf.write('BOOST_CLASS_EXPORT_IMPLEMENT( aslam::cameras::%s );\n\n' % cam)
+        outf.write('BOOST_CLASS_EXPORT_IMPLEMENT(aslam::cameras::%s);\n\n' % cam)
 
 # write the CMake File
 with open('autogen_cameras.cmake','w') as outf:
@@ -133,7 +132,7 @@
 with open('include/aslam/FrameBaseSerialization.hpp','w') as outf:
     outf.write(FRAME_FILE_HEADER)
     for cam in cameras:
-        outf.write( 'BOOST_CLASS_EXPORT_KEY( aslam::Frame<aslam::cameras::%s> );\n' % cam )
+        outf.write( 'BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::%s >);\n' % cam )
     outf.write( '\n\n' )
     #outf.write( 'inline void exportFrameBase()\n' )
     #outf.write( '{\n' )
@@ -153,13 +152,13 @@
         outf.write('#include <aslam/Frame.hpp>\n')
         outf.write('#include <aslam/FrameBaseSerialization.hpp>\n\n')
         outf.write(BOOST_SERIALIZATION_HEADERS)
-        outf.write('BOOST_CLASS_EXPORT_IMPLEMENT( aslam::Frame<aslam::cameras::%s> );\n\n' % cam)
+        outf.write('BOOST_CLASS_EXPORT_IMPLEMENT(aslam::Frame<aslam::cameras::%s >);\n\n' % cam)
         outf.write(FRAME_EXPORT.format( cam ) )
         outf.write("\n\n")
 
 # write the "linkCvSerialization" cpp file
 with open('src/LinkCvSerialization.cpp', 'w') as outf:
-    outf.write('#include <aslam/LinkCvSerialization.hpp>\n"
+    outf.write('#include <aslam/LinkCvSerialization.hpp>\n')
 
 # write the CMake File
 with open('autogen_frames.cmake','w') as outf:

aslam_cv/aslam_cv_serialization/include/aslam/FrameBaseSerialization.hpp

@@ -1,3 +1,4 @@
+
 #ifndef ASLAM_FRAME_BASE_SERIALIZATION_HPP
 #define ASLAM_FRAME_BASE_SERIALIZATION_HPP
 
@@ -12,56 +13,41 @@
  * 
  */
 
+
 #include <boost/serialization/export.hpp>
 #include <aslam/cameras.hpp>
 #include <aslam/Frame.hpp>
 #include "LinkCvSerialization.hpp"
 
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::PinholeCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::DistortedPinholeCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::EquidistantDistortedPinholeCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::OmniCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::DistortedOmniCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::EquidistantDistortedOmniCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::PinholeRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::DistortedPinholeRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::EquidistantDistortedPinholeRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::OmniRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::DistortedOmniRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::EquidistantDistortedOmniRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::MaskedPinholeCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedDistortedPinholeCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedEquidistantDistortedPinholeCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::MaskedOmniCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedDistortedOmniCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedEquidistantDistortedOmniCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedPinholeRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedDistortedPinholeRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedEquidistantDistortedPinholeRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::MaskedOmniRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedDistortedOmniRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::MaskedEquidistantDistortedOmniRsCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<aslam::cameras::DepthCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::DistortedDepthCameraGeometry>);
-BOOST_CLASS_EXPORT_KEY (aslam::Frame<
-    aslam::cameras::EquidistantDistortedDepthCameraGeometry>);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::PinholeCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::DistortedPinholeCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::EquidistantDistortedPinholeCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::FovDistortedPinholeCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::OmniCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::DistortedOmniCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::EquidistantDistortedOmniCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::PinholeRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::DistortedPinholeRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::EquidistantDistortedPinholeRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::OmniRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::DistortedOmniRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::EquidistantDistortedOmniRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedPinholeCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedDistortedPinholeCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedEquidistantDistortedPinholeCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedOmniCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedDistortedOmniCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedEquidistantDistortedOmniCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedPinholeRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedDistortedPinholeRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedEquidistantDistortedPinholeRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedOmniRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedDistortedOmniRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::MaskedEquidistantDistortedOmniRsCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::DepthCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::DistortedDepthCameraGeometry >);
+BOOST_CLASS_EXPORT_KEY(aslam::Frame<aslam::cameras::EquidistantDistortedDepthCameraGeometry >);
+
 
 #endif // ASLAM_FRAME_BASE_SERIALIZATION_HPP