123 lines
3.5 KiB
C++
123 lines
3.5 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file testDSFMap.cpp
|
|
* @date Oct 26, 2013
|
|
* @author Frank Dellaert
|
|
* @brief unit tests for DSFMap
|
|
*/
|
|
|
|
#include <gtsam_unstable/base/DSFMap.h>
|
|
|
|
#include <boost/foreach.hpp>
|
|
#include <boost/assign/std/list.hpp>
|
|
//#include <boost/assign/std/set.hpp>
|
|
using namespace boost::assign;
|
|
//
|
|
#include <CppUnitLite/TestHarness.h>
|
|
//
|
|
//#include <iostream>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSFMap, find) {
|
|
DSFMap<size_t> dsf;
|
|
EXPECT(dsf.find(0)==0);
|
|
EXPECT(dsf.find(2)==2);
|
|
EXPECT(dsf.find(0)==0);
|
|
EXPECT(dsf.find(2)==2);
|
|
EXPECT(dsf.find(0) != dsf.find(2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSFMap, merge) {
|
|
DSFMap<size_t> dsf;
|
|
dsf.merge(0,2);
|
|
EXPECT(dsf.find(0) == dsf.find(2));
|
|
}
|
|
/* ************************************************************************* */
|
|
TEST(DSFMap, merge2) {
|
|
DSFMap<size_t> dsf;
|
|
dsf.merge(2,0);
|
|
EXPECT(dsf.find(0) == dsf.find(2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSFMap, merge3) {
|
|
DSFMap<size_t> dsf;
|
|
dsf.merge(0,1);
|
|
dsf.merge(1,2);
|
|
EXPECT(dsf.find(0) == dsf.find(2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSFMap, mergePairwiseMatches) {
|
|
|
|
// Create some "matches"
|
|
typedef pair<size_t,size_t> Match;
|
|
list<Match> matches;
|
|
matches += Match(1,2), Match(2,3), Match(4,5), Match(4,6);
|
|
|
|
// Merge matches
|
|
DSFMap<size_t> dsf;
|
|
BOOST_FOREACH(const Match& m, matches)
|
|
dsf.merge(m.first,m.second);
|
|
|
|
// Each point is now associated with a set, represented by one of its members
|
|
size_t rep1 = 1, rep2 = 4;
|
|
EXPECT_LONGS_EQUAL(rep1,dsf.find(1));
|
|
EXPECT_LONGS_EQUAL(rep1,dsf.find(2));
|
|
EXPECT_LONGS_EQUAL(rep1,dsf.find(3));
|
|
EXPECT_LONGS_EQUAL(rep2,dsf.find(4));
|
|
EXPECT_LONGS_EQUAL(rep2,dsf.find(5));
|
|
EXPECT_LONGS_EQUAL(rep2,dsf.find(6));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSFMap, mergePairwiseMatches2) {
|
|
|
|
// 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
|
|
DSFMap<Measurement> dsf;
|
|
BOOST_FOREACH(const Match& m, matches)
|
|
dsf.merge(m.first,m.second);
|
|
|
|
// Check that sets are merged correctly
|
|
EXPECT(dsf.find(m11)==m11);
|
|
EXPECT(dsf.find(m12)==m12);
|
|
EXPECT(dsf.find(m14)==m14);
|
|
EXPECT(dsf.find(m22)==m11);
|
|
EXPECT(dsf.find(m23)==m12);
|
|
EXPECT(dsf.find(m25)==m14);
|
|
EXPECT(dsf.find(m26)==m14);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
|
/* ************************************************************************* */
|
|
|