Function TEST

okvis_ros/okvis/okvis_matcher/test/testMatcher.cpp:57–96

};

TEST(DenseMatcherTestSuite, denseMatcherTest) {
  TestMatchingAlgorithm tma;

  tma.listA.push_back(1.0);
  tma.listA.push_back(3.0);
  tma.listA.push_back(2.0);
  tma.listA.push_back(0.9);

  /// This shouldn't be matched because 18 - 4 > 4.0
  tma.listB.push_back(18.0);
  tma.listB.push_back(2.1);
  tma.listB.push_back(4.0);
  // This shouldn't be matched with listA[0] because of skipping listA[0]
  // So, it will be matches with listA[3]
  tma.listB.push_back(1.0);

  // We should have 1 --> 2 and 2 --> 1

  okvis::DenseMatcher matcher;

  matcher.match(tma);

  ASSERT_EQ(3u, tma.matches.size());

  for (size_t i = 0; i < tma.matches.size(); ++i) {
    switch (tma.matches[i].first) {
      case 1:
        ASSERT_EQ(2, tma.matches[i].second);
        break;
      case 2:
        ASSERT_EQ(1, tma.matches[i].second);
        break;
      case 3:
        ASSERT_EQ(3, tma.matches[i].second);
        break;
      default:
        FAIL() << "Unexpected match " << tma.matches[i].first << " --> " << tma.matches[i].second;
    }
  }
}

TEST(DenseMatcherTestSuite, denseMatcherDistanceRatioTest) {
  TestMatchingAlgorithm tma;