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Split matching example over Base and Vector

release/4.3a0
Frank Dellaert 2013-10-26 15:44:40 +00:00
parent 482777a938
commit 4727696de5
1 changed files with 25 additions and 11 deletions
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36
gtsam/base/tests/testDSFVector.cpp
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@ -60,6 +60,29 @@ TEST(DSFBase, makeUnion3) {
EXPECT(dsf.find(0) == dsf.find(2));
}
/* ************************************************************************* */
TEST(DSFBase, mergePairwiseMatches) {
// Create some "matches"
typedef pair<size_t,size_t> Match;
vector<Match> matches;
matches += Match(1,2), Match(2,3), Match(4,5), Match(4,6);
// Merge matches
DSFBase dsf(7); // We allow for keys 0..6
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(DSFVector, merge2) {
boost::shared_ptr<DSFBase::V> v = boost::make_shared<DSFBase::V>(5);
@ -186,23 +209,14 @@ TEST(DSFVector, mergePairwiseMatches) {
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));
// Check that we have two connected components, 1,2,3 and 4,5,6
map<size_t, set<size_t> > sets = dsf.sets();
LONGS_EQUAL(2, sets.size());
set<size_t> expected1; expected1 += 1,2,3;
set<size_t> actual1 = sets[rep1];
set<size_t> actual1 = sets[dsf.find(2)];
EXPECT(expected1 == actual1);
set<size_t> expected2; expected2 += 4,5,6;
set<size_t> actual2 = sets[rep2];
set<size_t> actual2 = sets[dsf.find(5)];
EXPECT(expected2 == actual2);
}