Added pairwise matching example
Frank Dellaert
parent
4727696de5
commit
19966fe112
|
|
@ -66,8 +66,8 @@ namespace gtsam {
|
|||
KEY parent = this->find(key);
|
||||
return parent == key ? key : findSet(parent); }
|
||||
|
||||
// return a new DSF where x and y are in the same set. Kai: the caml implementation is not const, and I followed
|
||||
Self makeUnion(const KEY& key1, const KEY& key2) { return this->add(findSet_(key2), findSet_(key1)); }
|
||||
// return a ***new*** DSF where x and y are in the same set. No path compression
|
||||
Self makeUnion(const KEY& key1, const KEY& key2) const { return this->add(findSet(key2), findSet(key1)); }
|
||||
|
||||
// the in-place version of makeUnion
|
||||
void makeUnionInPlace(const KEY& key1, const KEY& key2) { *this = this->add(findSet_(key2), findSet_(key1)); }
|
||||
|
|
|
|||
|
|
@ -16,13 +16,15 @@
|
|||
* @brief unit tests for DSF
|
||||
*/
|
||||
|
||||
#include <iostream>
|
||||
#include <gtsam_unstable/base/DSF.h>
|
||||
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
#include <boost/assign/std/list.hpp>
|
||||
#include <boost/assign/std/set.hpp>
|
||||
using namespace boost::assign;
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
#include <gtsam_unstable/base/DSF.h>
|
||||
#include <iostream>
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
|
@ -40,7 +42,7 @@ TEST(DSF, findSet) {
|
|||
dsf = dsf.makeSet(5);
|
||||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
CHECK(dsf.findSet(5) != dsf.findSet(7));
|
||||
EXPECT(dsf.findSet(5) != dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -50,7 +52,7 @@ TEST(DSF, makeUnion) {
|
|||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,7);
|
||||
CHECK(dsf.findSet(5) == dsf.findSet(7));
|
||||
EXPECT(dsf.findSet(5) == dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -60,7 +62,7 @@ TEST(DSF, makeUnion2) {
|
|||
dsf = dsf.makeSet(6);
|
||||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(7,5);
|
||||
CHECK(dsf.findSet(5) == dsf.findSet(7));
|
||||
EXPECT(dsf.findSet(5) == dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -71,7 +73,7 @@ TEST(DSF, makeUnion3) {
|
|||
dsf = dsf.makeSet(7);
|
||||
dsf = dsf.makeUnion(5,6);
|
||||
dsf = dsf.makeUnion(6,7);
|
||||
CHECK(dsf.findSet(5) == dsf.findSet(7));
|
||||
EXPECT(dsf.findSet(5) == dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -80,7 +82,7 @@ TEST(DSF, makePair) {
|
|||
dsf = dsf.makePair(0, 1);
|
||||
dsf = dsf.makePair(1, 2);
|
||||
dsf = dsf.makePair(3, 2);
|
||||
CHECK(dsf.findSet(0) == dsf.findSet(3));
|
||||
EXPECT(dsf.findSet(0) == dsf.findSet(3));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -88,7 +90,7 @@ TEST(DSF, makeList) {
|
|||
DSFInt dsf;
|
||||
list<int> keys; keys += 5, 6, 7;
|
||||
dsf = dsf.makeList(keys);
|
||||
CHECK(dsf.findSet(5) == dsf.findSet(7));
|
||||
EXPECT(dsf.findSet(5) == dsf.findSet(7));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -111,7 +113,7 @@ TEST(DSF, sets) {
|
|||
LONGS_EQUAL(1, sets.size());
|
||||
|
||||
set<int> expected; expected += 5, 6;
|
||||
CHECK(expected == sets[dsf.findSet(5)]);
|
||||
EXPECT(expected == sets[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -126,7 +128,7 @@ TEST(DSF, sets2) {
|
|||
LONGS_EQUAL(1, sets.size());
|
||||
|
||||
set<int> expected; expected += 5, 6, 7;
|
||||
CHECK(expected == sets[dsf.findSet(5)]);
|
||||
EXPECT(expected == sets[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -140,7 +142,7 @@ TEST(DSF, sets3) {
|
|||
LONGS_EQUAL(2, sets.size());
|
||||
|
||||
set<int> expected; expected += 5, 6;
|
||||
CHECK(expected == sets[dsf.findSet(5)]);
|
||||
EXPECT(expected == sets[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -155,7 +157,7 @@ TEST(DSF, partition) {
|
|||
LONGS_EQUAL(1, partitions.size());
|
||||
|
||||
set<int> expected; expected += 5;
|
||||
CHECK(expected == partitions[dsf.findSet(5)]);
|
||||
EXPECT(expected == partitions[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -171,7 +173,7 @@ TEST(DSF, partition2) {
|
|||
LONGS_EQUAL(1, partitions.size());
|
||||
|
||||
set<int> expected; expected += 7;
|
||||
CHECK(expected == partitions[dsf.findSet(7)]);
|
||||
EXPECT(expected == partitions[dsf.findSet(7)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -187,7 +189,7 @@ TEST(DSF, partition3) {
|
|||
LONGS_EQUAL(2, partitions.size());
|
||||
|
||||
set<int> expected; expected += 5;
|
||||
CHECK(expected == partitions[dsf.findSet(5)]);
|
||||
EXPECT(expected == partitions[dsf.findSet(5)]);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -201,7 +203,7 @@ TEST(DSF, set) {
|
|||
LONGS_EQUAL(2, set.size());
|
||||
|
||||
std::set<int> expected; expected += 5, 6;
|
||||
CHECK(expected == set);
|
||||
EXPECT(expected == set);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -216,7 +218,7 @@ TEST(DSF, set2) {
|
|||
LONGS_EQUAL(3, set.size());
|
||||
|
||||
std::set<int> expected; expected += 5, 6, 7;
|
||||
CHECK(expected == set);
|
||||
EXPECT(expected == set);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -234,7 +236,7 @@ TEST(DSF, map) {
|
|||
expected = expected.makeSet(16);
|
||||
expected = expected.makeSet(17);
|
||||
expected = expected.makeUnion(15,16);
|
||||
CHECK(actual == expected);
|
||||
EXPECT(actual == expected);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -253,7 +255,7 @@ TEST(DSF, flatten) {
|
|||
expected = expected.makePair(1, 5);
|
||||
expected = expected.makePair(1, 6);
|
||||
expected = expected.makePair(1, 7);
|
||||
CHECK(actual == expected);
|
||||
EXPECT(actual == expected);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -265,13 +267,60 @@ TEST(DSF, flatten2) {
|
|||
dsf = dsf.makeUnion(x3,x4);
|
||||
dsf = dsf.makeUnion(x1,x3);
|
||||
|
||||
CHECK(dsf != dsf.flatten());
|
||||
EXPECT(dsf != dsf.flatten());
|
||||
|
||||
DSF<string> expected2;
|
||||
expected2 = expected2.makePair(x1, x2);
|
||||
expected2 = expected2.makePair(x1, x3);
|
||||
expected2 = expected2.makePair(x1, x4);
|
||||
CHECK(expected2 == dsf.flatten());
|
||||
EXPECT(expected2 == dsf.flatten());
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(DSF, mergePairwiseMatches) {
|
||||
|
||||
// Create some measurements with image index and feature index
|
||||
typedef pair<size_t,size_t> Measurement;
|
||||
Measurement m11(1,1),m12(1,2),m14(1,4); // in image 1
|
||||
Measurement m22(2,2),m23(2,3),m25(2,5),m26(2,6); // in image 2
|
||||
|
||||
// Add them all
|
||||
list<Measurement> measurements;
|
||||
measurements += m11,m12,m14, m22,m23,m25,m26;
|
||||
|
||||
// Create some "matches"
|
||||
typedef pair<Measurement,Measurement> Match;
|
||||
list<Match> matches;
|
||||
matches += Match(m11,m22), Match(m12,m23), Match(m14,m25), Match(m14,m26);
|
||||
|
||||
// Merge matches
|
||||
DSF<Measurement> dsf(measurements);
|
||||
BOOST_FOREACH(const Match& m, matches)
|
||||
dsf.makeUnionInPlace(m.first,m.second);
|
||||
|
||||
// Check that sets are merged correctly
|
||||
EXPECT(dsf.findSet(m11)==m11);
|
||||
EXPECT(dsf.findSet(m12)==m12);
|
||||
EXPECT(dsf.findSet(m14)==m14);
|
||||
EXPECT(dsf.findSet(m22)==m11);
|
||||
EXPECT(dsf.findSet(m23)==m12);
|
||||
EXPECT(dsf.findSet(m25)==m14);
|
||||
EXPECT(dsf.findSet(m26)==m14);
|
||||
|
||||
// Check that we have three connected components
|
||||
EXPECT_LONGS_EQUAL(3, dsf.numSets());
|
||||
|
||||
set<Measurement> expected1; expected1 += m11,m22;
|
||||
set<Measurement> actual1 = dsf.set(m11);
|
||||
EXPECT(expected1 == actual1);
|
||||
|
||||
set<Measurement> expected2; expected2 += m12,m23;
|
||||
set<Measurement> actual2 = dsf.set(m12);
|
||||
EXPECT(expected2 == actual2);
|
||||
|
||||
set<Measurement> expected3; expected3 += m14,m25,m26;
|
||||
set<Measurement> actual3 = dsf.set(m14);
|
||||
EXPECT(expected3 == actual3);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
Loading…
Reference in New Issue