147 lines
4.1 KiB
C++
147 lines
4.1 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testDSFMap.cpp
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* @date Oct 26, 2013
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* @author Frank Dellaert
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* @brief unit tests for DSFMap
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*/
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#include <gtsam_unstable/base/DSFMap.h>
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#include <boost/assign/std/list.hpp>
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#include <boost/assign/std/set.hpp>
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include <iostream>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST(DSFMap, find) {
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DSFMap<size_t> dsf;
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EXPECT(dsf.find(0)==0);
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EXPECT(dsf.find(2)==2);
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EXPECT(dsf.find(0)==0);
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EXPECT(dsf.find(2)==2);
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EXPECT(dsf.find(0) != dsf.find(2));
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}
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/* ************************************************************************* */
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TEST(DSFMap, merge) {
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DSFMap<size_t> dsf;
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dsf.merge(0,2);
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EXPECT(dsf.find(0) == dsf.find(2));
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}
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/* ************************************************************************* */
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TEST(DSFMap, merge2) {
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DSFMap<size_t> dsf;
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dsf.merge(2,0);
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EXPECT(dsf.find(0) == dsf.find(2));
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}
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/* ************************************************************************* */
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TEST(DSFMap, merge3) {
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DSFMap<size_t> dsf;
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dsf.merge(0,1);
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dsf.merge(1,2);
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EXPECT(dsf.find(0) == dsf.find(2));
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}
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/* ************************************************************************* */
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TEST(DSFMap, mergePairwiseMatches) {
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// Create some "matches"
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typedef pair<size_t,size_t> Match;
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list<Match> matches;
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matches += Match(1,2), Match(2,3), Match(4,5), Match(4,6);
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// Merge matches
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DSFMap<size_t> dsf;
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for(const Match& m: matches)
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dsf.merge(m.first,m.second);
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// Each point is now associated with a set, represented by one of its members
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size_t rep1 = dsf.find(1), rep2 = dsf.find(4);
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EXPECT_LONGS_EQUAL(rep1,dsf.find(2));
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EXPECT_LONGS_EQUAL(rep1,dsf.find(3));
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EXPECT_LONGS_EQUAL(rep2,dsf.find(5));
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EXPECT_LONGS_EQUAL(rep2,dsf.find(6));
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}
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/* ************************************************************************* */
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TEST(DSFMap, mergePairwiseMatches2) {
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// Create some measurements with image index and feature index
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typedef pair<size_t,size_t> Measurement;
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Measurement m11(1,1),m12(1,2),m14(1,4); // in image 1
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Measurement m22(2,2),m23(2,3),m25(2,5),m26(2,6); // in image 2
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// Add them all
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list<Measurement> measurements;
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measurements += m11,m12,m14, m22,m23,m25,m26;
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// Create some "matches"
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typedef pair<Measurement,Measurement> Match;
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list<Match> matches;
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matches += Match(m11,m22), Match(m12,m23), Match(m14,m25), Match(m14,m26);
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// Merge matches
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DSFMap<Measurement> dsf;
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for(const Match& m: matches)
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dsf.merge(m.first,m.second);
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// Check that sets are merged correctly
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EXPECT(dsf.find(m22)==dsf.find(m11));
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EXPECT(dsf.find(m23)==dsf.find(m12));
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EXPECT(dsf.find(m25)==dsf.find(m14));
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EXPECT(dsf.find(m26)==dsf.find(m14));
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}
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/* ************************************************************************* */
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TEST(DSFMap, sets){
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// Create some "matches"
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typedef pair<size_t,size_t> Match;
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typedef pair<size_t, set<size_t> > key_pair;
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list<Match> matches;
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matches += Match(1,2), Match(2,3), Match(4,5), Match(4,6);
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// Merge matches
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DSFMap<size_t> dsf;
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for(const Match& m: matches)
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dsf.merge(m.first,m.second);
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map<size_t, set<size_t> > sets = dsf.sets();
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set<size_t> s1, s2;
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s1 += 1,2,3;
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s2 += 4,5,6;
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/*for(key_pair st: sets){
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cout << "Set " << st.first << " :{";
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for(const size_t s: st.second)
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cout << s << ", ";
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cout << "}" << endl;
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}*/
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EXPECT(s1 == sets[1]);
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EXPECT(s2 == sets[4]);
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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