330 lines
8.9 KiB
C++
330 lines
8.9 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 testDSF.cpp
|
|
* @date Mar 26, 2010
|
|
* @author nikai
|
|
* @brief unit tests for DSF
|
|
*/
|
|
|
|
#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 <iostream>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, makeSet) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
LONGS_EQUAL(1, dsf.size());
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, findSet) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
EXPECT(dsf.findSet(5) != dsf.findSet(7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, makeUnion) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,7);
|
|
EXPECT(dsf.findSet(5) == dsf.findSet(7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, makeUnion2) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(7,5);
|
|
EXPECT(dsf.findSet(5) == dsf.findSet(7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, makeUnion3) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
dsf = dsf.makeUnion(6,7);
|
|
EXPECT(dsf.findSet(5) == dsf.findSet(7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, makePair) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makePair(0, 1);
|
|
dsf = dsf.makePair(1, 2);
|
|
dsf = dsf.makePair(3, 2);
|
|
EXPECT(dsf.findSet(0) == dsf.findSet(3));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, makeList) {
|
|
DSFInt dsf;
|
|
list<int> keys; keys += 5, 6, 7;
|
|
dsf = dsf.makeList(keys);
|
|
EXPECT(dsf.findSet(5) == dsf.findSet(7));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, numSets) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
LONGS_EQUAL(2, dsf.numSets());
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, sets) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeUnion(5,6);
|
|
map<int, set<int> > sets = dsf.sets();
|
|
LONGS_EQUAL(1, sets.size());
|
|
|
|
set<int> expected; expected += 5, 6;
|
|
EXPECT(expected == sets[dsf.findSet(5)]);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, sets2) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
dsf = dsf.makeUnion(6,7);
|
|
map<int, set<int> > sets = dsf.sets();
|
|
LONGS_EQUAL(1, sets.size());
|
|
|
|
set<int> expected; expected += 5, 6, 7;
|
|
EXPECT(expected == sets[dsf.findSet(5)]);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, sets3) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
map<int, set<int> > sets = dsf.sets();
|
|
LONGS_EQUAL(2, sets.size());
|
|
|
|
set<int> expected; expected += 5, 6;
|
|
EXPECT(expected == sets[dsf.findSet(5)]);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, partition) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeUnion(5,6);
|
|
|
|
list<int> keys; keys += 5;
|
|
map<int, set<int> > partitions = dsf.partition(keys);
|
|
LONGS_EQUAL(1, partitions.size());
|
|
|
|
set<int> expected; expected += 5;
|
|
EXPECT(expected == partitions[dsf.findSet(5)]);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, partition2) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
|
|
list<int> keys; keys += 7;
|
|
map<int, set<int> > partitions = dsf.partition(keys);
|
|
LONGS_EQUAL(1, partitions.size());
|
|
|
|
set<int> expected; expected += 7;
|
|
EXPECT(expected == partitions[dsf.findSet(7)]);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, partition3) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
|
|
list<int> keys; keys += 5, 7;
|
|
map<int, set<int> > partitions = dsf.partition(keys);
|
|
LONGS_EQUAL(2, partitions.size());
|
|
|
|
set<int> expected; expected += 5;
|
|
EXPECT(expected == partitions[dsf.findSet(5)]);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, set) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
set<int> set = dsf.set(5);
|
|
LONGS_EQUAL(2, set.size());
|
|
|
|
std::set<int> expected; expected += 5, 6;
|
|
EXPECT(expected == set);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, set2) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
dsf = dsf.makeUnion(6,7);
|
|
set<int> set = dsf.set(5);
|
|
LONGS_EQUAL(3, set.size());
|
|
|
|
std::set<int> expected; expected += 5, 6, 7;
|
|
EXPECT(expected == set);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int func(const int& a) { return a + 10; }
|
|
TEST(DSF, map) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makeSet(5);
|
|
dsf = dsf.makeSet(6);
|
|
dsf = dsf.makeSet(7);
|
|
dsf = dsf.makeUnion(5,6);
|
|
|
|
DSFInt actual = dsf.map(&func);
|
|
DSFInt expected;
|
|
expected = expected.makeSet(15);
|
|
expected = expected.makeSet(16);
|
|
expected = expected.makeSet(17);
|
|
expected = expected.makeUnion(15,16);
|
|
EXPECT(actual == expected);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, flatten) {
|
|
DSFInt dsf;
|
|
dsf = dsf.makePair(1, 2);
|
|
dsf = dsf.makePair(2, 3);
|
|
dsf = dsf.makePair(5, 6);
|
|
dsf = dsf.makePair(6, 7);
|
|
dsf = dsf.makeUnion(2, 6);
|
|
|
|
DSFInt actual = dsf.flatten();
|
|
DSFInt expected;
|
|
expected = expected.makePair(1, 2);
|
|
expected = expected.makePair(1, 3);
|
|
expected = expected.makePair(1, 5);
|
|
expected = expected.makePair(1, 6);
|
|
expected = expected.makePair(1, 7);
|
|
EXPECT(actual == expected);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(DSF, flatten2) {
|
|
static string x1("x1"), x2("x2"), x3("x3"), x4("x4");
|
|
list<string> keys; keys += x1,x2,x3,x4;
|
|
DSF<string> dsf(keys);
|
|
dsf = dsf.makeUnion(x1,x2);
|
|
dsf = dsf.makeUnion(x3,x4);
|
|
dsf = dsf.makeUnion(x1,x3);
|
|
|
|
EXPECT(dsf != dsf.flatten());
|
|
|
|
DSF<string> expected2;
|
|
expected2 = expected2.makePair(x1, x2);
|
|
expected2 = expected2.makePair(x1, x3);
|
|
expected2 = expected2.makePair(x1, x4);
|
|
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);
|
|
for(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);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
|
/* ************************************************************************* */
|
|
|