colmap/src/optim/support_measurement_test.cc

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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));
}