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// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
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// documentation and/or other materials provided with the distribution.
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#define TEST_NAME "optim/support_measurement"
#include "util/testing.h"
#include <unordered_set>
#include "optim/support_measurement.h"
#include "util/math.h"
using namespace colmap;
BOOST_AUTO_TEST_CASE(TestInlierSupportMeasuremer) {
InlierSupportMeasurer::Support support1;
BOOST_CHECK_EQUAL(support1.num_inliers, 0);
BOOST_CHECK_EQUAL(support1.residual_sum, std::numeric_limits<double>::max());
InlierSupportMeasurer measurer;
std::vector<double> residuals = {-1.0, 0.0, 1.0, 2.0};
support1 = measurer.Evaluate(residuals, 1.0);
BOOST_CHECK_EQUAL(support1.num_inliers, 3);
BOOST_CHECK_EQUAL(support1.residual_sum, 0.0);
InlierSupportMeasurer::Support support2;
support2.num_inliers = 2;
BOOST_CHECK(measurer.Compare(support1, support2));
BOOST_CHECK(!measurer.Compare(support2, support1));
support2.residual_sum = support1.residual_sum;
BOOST_CHECK(measurer.Compare(support1, support2));
BOOST_CHECK(!measurer.Compare(support2, support1));
support2.num_inliers = support1.num_inliers;
support2.residual_sum += 0.01;
BOOST_CHECK(measurer.Compare(support1, support2));
BOOST_CHECK(!measurer.Compare(support2, support1));
support2.residual_sum -= 0.01;
BOOST_CHECK(!measurer.Compare(support1, support2));
BOOST_CHECK(!measurer.Compare(support2, support1));
support2.residual_sum -= 0.01;
BOOST_CHECK(!measurer.Compare(support1, support2));
BOOST_CHECK(measurer.Compare(support2, support1));
}
BOOST_AUTO_TEST_CASE(TestMEstimatorSupportMeasurer) {
MEstimatorSupportMeasurer::Support support1;
BOOST_CHECK_EQUAL(support1.num_inliers, 0);
BOOST_CHECK_EQUAL(support1.score, std::numeric_limits<double>::max());
MEstimatorSupportMeasurer measurer;
std::vector<double> residuals = {-1.0, 0.0, 1.0, 2.0};
support1 = measurer.Evaluate(residuals, 1.0);
BOOST_CHECK_EQUAL(support1.num_inliers, 3);
BOOST_CHECK_EQUAL(support1.score, 1.0);
MEstimatorSupportMeasurer::Support support2 = support1;
BOOST_CHECK(!measurer.Compare(support1, support2));
BOOST_CHECK(!measurer.Compare(support2, support1));
support2.num_inliers -= 1;
support2.score += 0.01;
BOOST_CHECK(measurer.Compare(support1, support2));
BOOST_CHECK(!measurer.Compare(support2, support1));
support2.score -= 0.01;
BOOST_CHECK(!measurer.Compare(support1, support2));
BOOST_CHECK(!measurer.Compare(support2, support1));
support2.score -= 0.01;
BOOST_CHECK(!measurer.Compare(support1, support2));
BOOST_CHECK(measurer.Compare(support2, support1));
}
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