borglab · varunagrawal · Nov 16, 2020 · Nov 15, 2020
diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h
@@ -23,6 +23,7 @@
 #include <boost/optional.hpp>
 #include <map>
 #include <iostream>
+#include <sstream>
 #include <vector>
 
 namespace gtsam {
@@ -349,4 +350,44 @@ bool assert_inequal(const V& expected, const V& actual, double tol = 1e-9) {
   return false;
 }
 
+/**
+ * Capture std out via cout stream and compare against string.
+ */
+template<class V>
+bool assert_stdout_equal(const std::string& expected, const V& actual) {
+  // Redirect output to buffer so we can compare
+  std::stringstream buffer;
+  // Save the original output stream so we can reset later
+  std::streambuf* old = std::cout.rdbuf(buffer.rdbuf());
+
+  // We test against actual std::cout for faithful reproduction
+  std::cout << actual;
+
+  // Get output string and reset stdout
+  std::string actual_ = buffer.str();
+  std::cout.rdbuf(old);
+
+  return assert_equal(expected, actual_);
+}
+
+/**
+ * Capture print function output and compare against string.
+ */
+template<class V>
+bool assert_print_equal(const std::string& expected, const V& actual) {
+  // Redirect output to buffer so we can compare
+  std::stringstream buffer;
+  // Save the original output stream so we can reset later
+  std::streambuf* old = std::cout.rdbuf(buffer.rdbuf());
+
+  // We test against actual std::cout for faithful reproduction
+  actual.print();
+
+  // Get output string and reset stdout
+  std::string actual_ = buffer.str();
+  std::cout.rdbuf(old);
+
+  return assert_equal(expected, actual_);
+}
+
 } // \namespace gtsam
diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp
@@ -16,6 +16,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
+#include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Cal3_S2.h>
 
@@ -127,6 +128,16 @@ TEST(Cal3_S2, between) {
 
 }
 
+/* ************************************************************************* */
+TEST(Cal3_S2, Print) {
+  Cal3_S2 cal(5, 5, 5, 5, 5);
+  std::stringstream os;
+  os << "{fx: " << cal.fx() << ", fy: " << cal.fy() << ", s:" << cal.skew() << ", px:" << cal.px()
+     << ", py:" << cal.py() << "}";
+
+  EXPECT(assert_stdout_equal(os.str(), cal));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
@@ -18,6 +18,7 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/base/testLie.h>
 #include <gtsam/base/lieProxies.h>
+#include <gtsam/base/TestableAssertions.h>
 
 #include <boost/assign/std/vector.hpp> // for operator +=
 using namespace boost::assign;
@@ -1028,32 +1029,13 @@ TEST(Pose3, Create) {
 }
 
 /* ************************************************************************* */
-TEST(Pose3, print) {
-  std::stringstream redirectStream;
-  std::streambuf* ssbuf = redirectStream.rdbuf();
-  std::streambuf* oldbuf  = std::cout.rdbuf();
-  // redirect cout to redirectStream
-  std::cout.rdbuf(ssbuf);
-
+TEST(Pose3, Print) {
   Pose3 pose(Rot3::identity(), Point3(1, 2, 3));
-  // output is captured to redirectStream
-  pose.print();
 
   // Generate the expected output
-  std::stringstream expected;
-  Point3 translation(1, 2, 3);
-
-  // Add expected rotation
-  expected << "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\n";
-  expected << "t: 1 2 3\n";
-
-  // reset cout to the original stream
-  std::cout.rdbuf(oldbuf);
-
-  // Get substring corresponding to translation part
-  std::string actual = redirectStream.str();
+  std::string expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\nt: 1 2 3\n";
 
-  CHECK_EQUAL(expected.str(), actual);
+  EXPECT(assert_print_equal(expected, pose));
 }
 
 /* ************************************************************************* */

diff --git a/gtsam/nonlinear/tests/testFunctorizedFactor.cpp b/gtsam/nonlinear/tests/testFunctorizedFactor.cpp
@@ -19,6 +19,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
+#include <gtsam/base/TestableAssertions.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/FunctorizedFactor.h>
 #include <gtsam/nonlinear/factorTesting.h>
@@ -115,16 +116,6 @@ TEST(FunctorizedFactor, Print) {
  auto factor =
       MakeFunctorizedFactor<Matrix>(key, X, model, MultiplyFunctor(multiplier));
 
-  // redirect output to buffer so we can compare
-  stringstream buffer;
-  streambuf *old = cout.rdbuf(buffer.rdbuf());
-
-  factor.print();
-
-  // get output string and reset stdout
-  string actual = buffer.str();
-  cout.rdbuf(old);
-
   string expected =
       "  keys = { X0 }\n"
       "  noise model: unit (9) \n"
@@ -135,7 +126,7 @@ TEST(FunctorizedFactor, Print) {
       "]\n"
       "  noise model sigmas: 1 1 1 1 1 1 1 1 1\n";
 
-  CHECK_EQUAL(expected, actual);
+  EXPECT(assert_print_equal(expected, factor));
 }
 
 /* ************************************************************************* */

diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
@@ -595,15 +595,7 @@ TEST(Values, Demangle) {
   values.insert(key1, v);
   string expected = "Values with 1 values:\nValue v1: (Eigen::Matrix<double, 1, 3, 1, 1, 3>)\n[\n	5, 6, 7\n]\n\n";
 
-  stringstream buffer;
-  streambuf * old = cout.rdbuf(buffer.rdbuf());
-
-  values.print();
-
-  string actual = buffer.str();
-  cout.rdbuf(old);
-
-  EXPECT(assert_equal(expected, actual));
+  EXPECT(assert_print_equal(expected, values));
 }
 
 /* ************************************************************************* */