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https://github.com/opencv/opencv.git
synced 2026-07-25 21:33:04 +04:00
Agrim Rai
80 lines
2.8 KiB
C++
80 lines
2.8 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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// Copyright (C) 2026, BigVision LLC, all rights reserved.
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// Third party copyrights are property of their respective owners.
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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// Allocates a keyframe with @p n keypoint slots (parallel mapPoints[] zeroed),
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// as the pipeline expects before any observation is wired.
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static slam::KeyFrame* newKeyFrame(int n)
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{
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slam::KeyFrame* kf = new slam::KeyFrame();
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kf->keypoints.resize(n);
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kf->mapPoints.assign(n, nullptr);
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return kf;
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}
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TEST(SLAM_Map, registers_and_clears)
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{
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slam::Map map;
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// addKeyframe / addMapPoint assign sequential ids and the index round-trips.
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slam::KeyFrame* kf0 = map.addKeyframe(newKeyFrame(0));
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slam::KeyFrame* kf1 = map.addKeyframe(newKeyFrame(0));
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slam::MapPoint* mp0 = map.addMapPoint(new slam::MapPoint());
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EXPECT_EQ(kf0->id, 0);
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EXPECT_EQ(kf1->id, 1);
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EXPECT_EQ(mp0->id, 0);
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EXPECT_EQ(map.numKeyframes(), 2);
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EXPECT_EQ(map.numMapPoints(), 1);
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EXPECT_EQ(map.getKeyframe(1), kf1);
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EXPECT_EQ(map.getMapPoint(0), mp0);
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EXPECT_TRUE(map.getKeyframe(99) == nullptr);
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// An explicit id must advance the auto-id counter so it cannot collide.
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slam::KeyFrame* kfExplicit = new slam::KeyFrame();
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kfExplicit->id = 5;
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map.addKeyframe(kfExplicit);
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EXPECT_EQ(map.addKeyframe(newKeyFrame(0))->id, 6);
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// clear() drops all state and restarts the id counters.
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map.clear();
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EXPECT_EQ(map.numKeyframes(), 0);
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EXPECT_EQ(map.numMapPoints(), 0);
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EXPECT_EQ(map.addKeyframe(newKeyFrame(0))->id, 0);
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}
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TEST(SLAM_Map, wires_and_removes_observations)
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{
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slam::Map map;
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slam::KeyFrame* kfA = map.addKeyframe(newKeyFrame(3));
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slam::KeyFrame* kfB = map.addKeyframe(newKeyFrame(3));
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slam::MapPoint* mp = map.addMapPoint(new slam::MapPoint());
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// addObservation links both directions: keyframe slot <-> observation map.
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map.addObservation(kfA, 2, mp);
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map.addObservation(kfB, 0, mp);
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EXPECT_EQ(kfA->mapPoints[2], mp);
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EXPECT_EQ(mp->observations[kfA], 2u);
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EXPECT_EQ(mp->observations.size(), 2u);
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// Adding into an already-occupied slot is a no-op.
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slam::MapPoint* other = map.addMapPoint(new slam::MapPoint());
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map.addObservation(kfA, 2, other);
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EXPECT_EQ(kfA->mapPoints[2], mp);
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EXPECT_EQ(other->observations.count(kfA), 0u);
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// removeMapPoint unlinks every observing keyframe and drops the point.
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const int mpId = mp->id;
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map.removeMapPoint(mp); // deletes mp; must not be dereferenced afterwards
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EXPECT_TRUE(map.getMapPoint(mpId) == nullptr);
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EXPECT_TRUE(kfA->mapPoints[2] == nullptr);
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EXPECT_TRUE(kfB->mapPoints[0] == nullptr);
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}
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}} // namespace opencv_test
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