Add approvaltest & update CI

.github/workflows/build.yml

@@ -17,11 +17,14 @@ jobs:
     - name: Install dependencies
       run: |
         sudo apt-get update
-        sudo apt-get install -y libeigen3-dev libpng-dev
+        sudo apt-get install -y libeigen3-dev libpng-dev libgtest-dev
 
     - name: Configure
-      run: cd samples && mkdir build && cd build && cmake ..
+      run: mkdir build && cd build && cmake ..
 
     - name: Build
-      run: cd samples/build && make -j
+      run: cd build && make -j
+
+    - name: Test
+      run: cd build && ctest --output-on-failure
 

.gitignore

@@ -6,5 +6,8 @@ doc
 data/MPI-Sintel*
 data/kitti
 data/*.bin
-samples/build
+build
+.cache
+.cache
+
 

CMakeLists.txt

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.10)
+include(CheckCXXCompilerFlag)
+include(CheckCXXSourceRuns)
+project(openGPC CXX)
+set (REQ_CPP11_FEATURES  cxx_strong_enums cxx_auto_type)
+
+set(CMAKE_CXX_STANDARD 17) 
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+find_package(Eigen3 REQUIRED)
+find_package(PNG REQUIRED)
+find_package(Threads REQUIRED)
+
+include_directories(${EIGEN3_INCLUDE_DIR})
+include_directories(${PNG_INCLUDE_DIRS})
+include_directories(lib)
+
+#By default, use SSE intrinsics
+option(SSE "Enable SSE/AVX optimizations if available" ON)
+
+add_compile_options(-O3 -funroll-loops)
+if(SSE)
+    message(STATUS "Checking if target CPU supports AVX2 instructions...")
+    check_cxx_source_runs("
+      #include <immintrin.h>
+      int main() {
+        __m256i x = _mm256_set1_epi32(1);
+        return _mm256_extract_epi32(x, 0);
+      }
+    " CPU_HAS_AVX2)
+
+    if(CPU_HAS_AVX2)
+      message(STATUS "AVX2: supported and enabled")
+      add_compile_definitions(_INTRINSICS_SSE)
+      add_compile_options(-mavx2 -march=core-avx2)
+    endif()
+endif()
+
+enable_testing()
+add_subdirectory(samples)
+add_subdirectory(tests)
+

data/middlebury/README.md

@@ -0,0 +1,7 @@
+The images in directory are sourced from the `chess` scene in the [Middlebury 2021 dataset](https://vision.middlebury.edu/stereo/data/).
+
+```
+D. Scharstein, H. Hirschmüller, Y. Kitajima, G. Krathwohl, N. Nesic, X. Wang, and P. Westling. High-resolution stereo datasets with subpixel-accurate ground truth.
+In German Conference on Pattern Recognition (GCPR 2014), Münster, Germany, September 2014.
+```
+

lib/gpc/buffer.hpp

@@ -81,7 +81,6 @@ struct Descriptor {
     bool operator<=(const Descriptor& d) const { return state <= d.state; }
     int operator%(const int& d) const { return state % d; }
 };
-
 // Keeps support points with associated disparity
 // Support points are only used in the left image
 struct Support {
@@ -91,6 +90,24 @@ struct Support {
     Support(int x, int y) : x(x), y(y), d(0.) {}
     Support() {};
 };
+inline bool operator<(const Support& a, const Support& b) {
+    if (a.x != b.x) return a.x < b.x;
+    if (a.y != b.y) return a.y < b.y;
+    return a.d < b.d;
+}
+inline std::ostream& operator<<(std::ostream& os, const Support& s) {
+    return os << "(" << s.x << ", " << s.y << ", " << s.d << ")";
+}
+template <typename T>
+inline std::ostream& operator<<(std::ostream& os, const std::vector<T>& v) {
+    os << "[";
+    for (size_t i = 0; i < v.size(); ++i) {
+        os << v[i];
+        if (i + 1 < v.size()) os << ", ";
+    }
+    os << "]";
+    return os;
+}
 // Keeps correspondences in case of non-epipolar matching scenario
 struct Correspondence {
     Point srcPt, tarPt;

samples/CMakeLists.txt

@@ -1,46 +1,3 @@
-cmake_minimum_required(VERSION 3.10)
-include(CheckCXXCompilerFlag)
-include(CheckCXXSourceRuns)
-project(openGPC CXX)
-set (REQ_CPP11_FEATURES  cxx_strong_enums cxx_auto_type)
-
-set(CMAKE_CXX_STANDARD 17) 
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIR})
-
-#By default, use SSE intrinsics
-option(SSE "Enable SSE/AVX optimizations if available" ON)
-
-add_compile_options(-O3 -funroll-loops)
-if(SSE)
-    message(STATUS "Checking if target CPU supports AVX2 instructions...")
-    check_cxx_source_runs("
-      #include <immintrin.h>
-      int main() {
-        __m256i x = _mm256_set1_epi32(1);
-        return _mm256_extract_epi32(x, 0);
-      }
-    " CPU_HAS_AVX2)
-
-    if(CPU_HAS_AVX2)
-      message(STATUS "AVX2: supported and enabled")
-      add_compile_definitions(_INTRINSICS_SSE)
-      add_compile_options(-mavx2 -march=core-avx2)
-    endif()
-endif()
-
-#find pnglib (used to load and store images for training and during evaluation)
-find_package(PNG REQUIRED)
-include_directories(${PNG_INCLUDE_DIRS})
-
-set(THREADS_PREFER_PTHREAD_FLAG ON)
-find_package(Threads REQUIRED)
-
-include_directories("../lib")
-
 add_executable(extract extract.cpp)
 target_link_libraries(extract ${PNG_LIBRARIES} Threads::Threads)
 

tests/CMakeLists.txt

@@ -0,0 +1,18 @@
+find_package(GTest REQUIRED)
+
+include(FetchContent)
+
+FetchContent_Declare(
+  approvaltests
+  GIT_REPOSITORY https://github.com/approvals/ApprovalTests.cpp.git
+  GIT_TAG v.10.12.0       
+)
+FetchContent_MakeAvailable(approvaltests)
+
+
+find_package(GTest REQUIRED)
+add_executable(test_single_matching test_single_matching.cpp)
+target_link_libraries(test_single_matching PRIVATE ${PNG_LIBRARIES} ApprovalTests::ApprovalTests GTest::gtest_main)
+
+add_test(NAME single_matching COMMAND test_single_matching)
+

tests/test_single_matching.Approval.Inference.approved.txt

@@ -0,0 +1 @@
+[(13, 569, 0), (13, 570, 0), (13, 658, -1), (13, 659, -1), (13, 660, -1), (13, 671, -1), (13, 690, -2), (14, 562, 1), (14, 571, 1), (14, 572, 1), (14, 573, 1), (14, 609, 0), (14, 792, -5), (14, 793, -5), (14, 794, -5), (14, 857, -5), (15, 566, 2), (15, 828, -5), (15, 868, -6), (15, 1006, -10), (16, 850, -5), (143, 76, 103), (215, 753, 102), (236, 336, 128), (236, 337, 128), (237, 340, 128), (237, 341, 128), (239, 347, 128), (239, 351, 128), (239, 352, 128), (239, 353, 128), (239, 356, 128), (240, 263, 67), (240, 351, 128), (240, 352, 128), (240, 354, 128), (240, 357, 128), (240, 359, 128), (240, 362, 128), (241, 264, 68), (241, 362, 128), (241, 364, 128), (242, 364, 128), (242, 367, 128), (243, 267, 68), (243, 370, 128), (243, 371, 128), (243, 372, 127), (243, 373, 127), (243, 374, 127), (243, 375, 128), (243, 377, 128), (243, 421, 124), (244, 268, 69), (244, 377, 127), (244, 378, 127), (244, 380, 127), (244, 420, 124), (244, 421, 124), (244, 442, 127), (245, 270, 69), (245, 385, 127), (245, 386, 127), (245, 425, 124), (245, 439, 127), (246, 387, 128), (246, 388, 127), (246, 389, 127), (247, 442, 128), (247, 448, 128), (248, 374, 128), (248, 446, 128), (249, 276, 69), (250, 277, 69), (250, 412, 127), (250, 413, 126), (250, 456, 127), (252, 426, 127), (252, 932, 115), (254, 425, 126), (256, 287, 68), (257, 289, 68), (258, 290, 68), (259, 292, 69), (259, 421, 126), (262, 419, 127), (264, 418, 126), (266, 418, 6), (266, 550, 121), (267, 422, 126), (269, 286, 82), (270, 938, 119), (272, 582, 120), (272, 583, 120), (273, 843, 113), (275, 934, 124), (277, 560, 127), (278, 617, 119), (279, 570, 96), (279, 617, 119), (279, 620, 119), (279, 621, 119), (282, 623, -1), (283, 644, 118), (284, 637, 92), (285, 635, -2), (285, 642, 119), (287, 401, 40), (290, 557, -38), (291, 634, 125), (292, 643, 126), (292, 674, 118), (296, 570, -40), (296, 665, 5), (296, 715, 116), (296, 716, 116), (297, 674, 119), (298, 672, 120), (298, 673, 120), (299, 682, 119), (299, 723, 117), (300, 687, 119), (300, 688, 119), (300, 690, 118), (301, 580, -42), (301, 693, 119), (301, 698, 118), (301, 744, 115), (304, 587, -43), (304, 953, 125), (310, 600, -46), (310, 986, 128), (311, 506, 62), (312, 205, 127), (320, 840, 112), (321, 836, 112), (322, 237, 72), (322, 841, 111), (324, 843, 112), (324, 844, 112), (325, 838, 113), (325, 844, 112), (325, 845, 112), (326, 842, 113), (328, 228, 127), (329, 228, 127), (332, 845, 113), (333, 844, 114), (336, 719, 42), (338, 716, 38), (339, 235, 125), (339, 381, 99), (339, 718, 39), (344, 232, 52), (346, 455, -117), (346, 456, -116), (346, 554, -121), (354, 834, 125), (355, 831, 126), (359, 223, 124), (368, 218, 126), (370, 392, -97), (377, 58, 124), (385, 315, 123), (387, 316, 124), (387, 384, 94), (388, 313, 119), (391, 312, 122), (395, 299, 122), (396, 54, 109), (396, 475, -24), (400, 918, -107), (404, 180, 123), (407, 453, -109), (408, 286, 119), (409, 208, 123), (412, 504, -44), (414, 340, 121), (415, 220, 123), (415, 221, 123), (417, 561, 87), (418, 218, 123), (420, 1035, -94), (425, 338, 118), (433, 53, 124), (434, 379, 117), (436, 379, 118), (437, 52, 128), (437, 205, -47), (437, 379, 118), (439, 378, 109), (440, 317, 120), (443, 285, 120), (443, 394, 125), (446, 414, 126), (448, 202, 121), (452, 330, 119), (452, 719, 64), (454, 199, 122), (455, 52, 126), (455, 723, 65), (456, 377, 118), (457, 199, 122), (463, 325, 120), (465, 330, 112), (470, 192, 121), (472, 330, 120), (473, 327, 118), (473, 372, 115), (477, 372, 112), (480, 272, 108), (480, 279, 119), (481, 170, 120), (481, 186, 120), (481, 221, 115), (482, 169, 120), (483, 185, 121), (486, 823, 63), (489, 181, 120), (492, 370, 115), (500, 312, 118), (504, 179, 119), (505, 172, 122), (508, 171, 120), (509, 171, 120), (510, 961, 126), (517, 169, 121), (517, 217, 118), (518, 401, 124), (519, 400, 122), (520, 400, 124), (523, 321, 115), (523, 407, 126), (525, 171, 118), (526, 272, 117), (527, 363, 127), (529, 315, 116), (532, 171, 119), (534, 360, 110), (539, 360, 112), (543, 297, 117), (552, 588, 27), (555, 262, 96), (555, 295, 117), (555, 391, 123), (556, 357, 112), (557, 291, 116), (558, 594, 27), (565, 161, 115), (570, 169, 116), (570, 170, 120), (572, 354, 111), (572, 398, 122), (573, 313, 114), (573, 611, 28), (574, 609, 29), (576, 394, 105), (577, 615, 29), (578, 352, 113), (579, 352, 110), (580, 697, -38), (581, 166, 112), (583, 354, 112), (585, 622, 31), (589, 310, 112), (591, 262, 113), (593, 352, 113), (595, 204, 115), (597, 68, 117), (597, 69, 117), (598, 64, 117), (598, 66, 117), (598, 67, 117), (598, 68, 117), (598, 69, 117), (598, 70, 117), (598, 71, 117), (598, 72, 117), (598, 81, 117), (599, 73, 117), (599, 75, 117), (599, 86, 116), (599, 87, 116), (600, 83, 117), (600, 84, 117), (600, 85, 117), (600, 88, 117), (600, 94, 116), (600, 95, 116), (601, 92, 117), (601, 99, 116), (601, 100, 116), (601, 101, 116), (601, 102, 116), (602, 102, 116), (602, 106, 116), (602, 107, 116), (603, 151, 115), (603, 204, 114), (603, 205, 113), (604, 126, 115), (604, 146, 115), (604, 147, 115), (605, 146, 115), (605, 205, 113), (605, 348, 107), (606, 144, 115), (606, 146, 115), (606, 148, 115), (606, 150, 115), (606, 203, 114), (607, 150, 115), (608, 55, 118), (609, 204, 114), (610, 205, 114), (611, 205, 114), (611, 208, 114), (611, 209, 114), (611, 210, 114), (612, 150, 116), (612, 202, 114), (612, 205, 114), (612, 206, 114), (612, 208, 113), (612, 209, 113), (612, 345, 112), (613, 102, 117), (613, 202, 114), (613, 348, 111), (613, 652, -113), (614, 212, 114), (614, 305, 111), (614, 306, 111), (615, 103, 118), (615, 347, 111), (616, 154, 114), (616, 233, 113), (616, 234, 113), (616, 236, 113), (616, 250, 113), (616, 251, 113), (616, 303, 112), (616, 655, 34), (617, 132, 117), (617, 160, 116), (617, 239, 113), (617, 241, 113), (617, 242, 113), (617, 251, 113), (617, 347, 110), (618, 134, 117), (618, 137, 117), (618, 138, 117), (618, 250, 113), (619, 108, 118), (619, 109, 118), (619, 110, 118), (619, 129, 117), (619, 135, 117), (619, 136, 117), (619, 138, 117), (619, 147, 117), (619, 154, 116), (619, 253, 113), (620, 103, 118), (620, 110, 118), (620, 256, 113), (620, 258, 119), (620, 304, 112), (621, 111, 117), (621, 150, 116), (622, 129, 118), (622, 168, 117), (622, 308, 112), (622, 347, 111), (623, 129, 118), (623, 203, 115), (623, 303, 112), (623, 306, 111), (623, 309, 111), (623, 310, 111), (623, 346, 110), (623, 347, 111), (624, 130, 117), (624, 164, 116), (624, 205, 115), (624, 305, 112), (624, 308, 111), (624, 311, 112), (624, 388, 116), (625, 167, 117), (625, 169, 116), (625, 198, 116), (625, 205, 115), (625, 303, 111), (625, 316, 111), (625, 317, 111), (625, 318, 111), (625, 319, 111), (625, 339, 111), (625, 341, 111), (625, 342, 111), (625, 343, 111), (625, 389, 123), (626, 130, 117), (626, 138, 118), (626, 199, 115), (626, 200, 115), (626, 301, 112), (626, 326, 111), (626, 329, 111), (626, 330, 111), (626, 331, 111), (626, 332, 111), (626, 333, 111), (626, 339, 111), (626, 342, 111), (626, 343, 111), (627, 130, 117), (627, 141, 116), (627, 254, 115), (627, 337, 111), (627, 339, 111), (628, 50, 117), (628, 183, 116), (628, 184, 116), (628, 185, 116), (628, 254, 114), (628, 255, 114), (628, 302, 111), (628, 341, 111), (629, 97, 117), (629, 132, 118), (629, 188, 115), (629, 192, 116), (629, 193, 116), (629, 255, 114), (629, 341, 111), (630, 144, 117), (630, 193, 115), (630, 194, 115), (630, 302, 112), (630, 342, 111), (630, 344, 111), (630, 348, 110), (631, 134, 118), (631, 344, 111), (631, 348, 110), (632, 47, 118), (632, 50, 117), (632, 109, 119), (632, 196, 116), (632, 198, 116), (632, 202, 115), (632, 203, 115), (632, 205, 115), (632, 206, 115), (632, 342, 111), (633, 52, 118), (633, 53, 118), (633, 54, 118), (633, 206, 115), (633, 214, 114), (634, 53, 118), (634, 55, 118), (634, 64, 117), (635, 51, 118), (635, 76, 117), (635, 97, 117), (635, 112, 118), (635, 136, 116), (636, 61, 117), (636, 79, 117), (636, 97, 117), (636, 301, 113), (637, 75, 118), (637, 84, 115), (637, 305, 113), (637, 347, 112), (638, 347, 112), (638, 408, 126), (639, 83, 117), (639, 387, 117), (639, 408, 124), (640, 85, 117), (640, 89, 117), (640, 92, 117), (640, 277, 113), (640, 278, 113), (641, 85, 117), (641, 111, 119), (641, 347, 112), (642, 91, 114), (643, 144, 115), (643, 145, 115), (643, 343, 112), (643, 346, 111), (644, 87, 114), (644, 142, 115), (644, 342, 112), (645, 94, 115), (645, 112, 121), (645, 162, 115), (645, 343, 112), (646, 90, 115), (646, 143, 116), (646, 146, 116), (646, 148, 116), (646, 149, 116), (646, 166, 115), (646, 167, 115), (646, 347, 102), (647, 118, 121), (647, 151, 116), (647, 163, 116), (647, 164, 116), (647, 343, 111), (647, 364, 115), (648, 144, 116), (648, 364, 115), (648, 386, 124), (649, 92, 116), (649, 119, 121), (649, 170, 115), (650, 294, 113), (651, 93, 116), (652, 459, 84), (654, 318, 112), (655, 122, 121), (655, 318, 111), (655, 321, 112), (655, 322, 112), (655, 323, 112), (655, 334, 112), (655, 439, 87), (656, 228, 114), (656, 229, 114), (656, 233, 113), (656, 256, 113), (656, 321, 112), (656, 323, 112), (656, 332, 111), (656, 347, 111), (657, 125, 66), (657, 331, 111), (657, 347, 111), (658, 149, 118), (658, 244, 114), (659, 254, 113), (659, 255, 113), (659, 265, 113), (660, 261, 113), (661, 99, 116), (662, 126, 121), (662, 127, 121), (664, 152, 120), (665, 126, 123), (665, 311, 113), (666, 340, 111), (666, 341, 111), (666, 380, 117), (667, 119, 121), (667, 129, 121), (667, 331, 111), (667, 339, 112), (667, 340, 111), (667, 343, 112), (668, 328, 112), (668, 329, 112), (668, 330, 112), (668, 339, 112), (668, 343, 111), (668, 380, 118), (669, 342, 111), (669, 343, 111), (669, 344, 111), (670, 343, 111), (671, 343, 111), (672, 344, 111), (673, 103, 117), (673, 106, 118), (673, 120, 119), (674, 426, -43), (674, 432, 11), (675, 135, 122), (677, 136, 121), (677, 155, 122), (678, 156, 121), (679, 123, 120), (679, 352, 115), (680, 136, 122), (681, 157, 122), (682, 125, 119), (682, 347, 113), (682, 459, 11), (683, 459, 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