Removed unsupported SpaceMap constructor.

Added SpaceMap traits unit tests.
Updated unit tests.

Author: Jaybro

src/pico_tree/pico_tree/map.hpp

@@ -120,11 +120,13 @@ class SpaceMap : protected internal::Map<Point_, kDynamicSize> {
   static_assert(
       Dim != kDynamicSize, "SPACE_MAP_OF_POINT_DOES_NOT_SUPPORT_DYNAMIC_DIM");
 
-  using internal::Map<Point_, kDynamicSize>::Map;
   using internal::Map<Point_, kDynamicSize>::operator[];
   using internal::Map<Point_, kDynamicSize>::data;
   using internal::Map<Point_, kDynamicSize>::size;
 
+  constexpr SpaceMap(CvPointType* data, SizeType size) noexcept
+      : internal::Map<Point_, kDynamicSize>::Map(data, size) {}
+
   constexpr SizeType sdim() const { return Dim; }
 };
 

test/pico_tree/CMakeLists.txt

@@ -21,6 +21,7 @@ set(TEST_TARGET_SOURCES
     ${CMAKE_CURRENT_LIST_DIR}/metric_test.cpp
     ${CMAKE_CURRENT_LIST_DIR}/point_map_test.cpp
     ${CMAKE_CURRENT_LIST_DIR}/space_map_test.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/space_map_traits_test.cpp
     ${CMAKE_CURRENT_LIST_DIR}/vector_traits_test.cpp
 )
 

test/pico_tree/eigen3_traits_test.cpp

@@ -1,7 +1,6 @@
 #include <gtest/gtest.h>
 
 #include <pico_tree/eigen3_traits.hpp>
-#include <pico_tree/kd_tree.hpp>
 
 #include "common.hpp"
 
@@ -11,20 +10,7 @@ void CheckEigenAdaptorInterface() {
   RowMatrix row_matrix = RowMatrix::Random(4, 8);
 
   CheckSpaceAdaptor<static_cast<pico_tree::Size>(ColMatrix::RowsAtCompileTime)>(
-      col_matrix,
-      col_matrix.rows(),
-      col_matrix.cols(),
-      static_cast<Eigen::Index>(0),
-      col_matrix.col(0).data());
-  CheckSpaceAdaptor<static_cast<pico_tree::Size>(RowMatrix::ColsAtCompileTime)>(
-      row_matrix,
-      row_matrix.cols(),
-      row_matrix.rows(),
-      static_cast<Eigen::Index>(0),
-      row_matrix.row(0).data());
-
-  CheckSpaceAdaptor<static_cast<pico_tree::Size>(ColMatrix::RowsAtCompileTime)>(
-      std::ref(col_matrix),
+      std::cref(col_matrix),
       col_matrix.rows(),
       col_matrix.cols(),
       col_matrix.cols() - 1,
@@ -33,11 +19,11 @@ void CheckEigenAdaptorInterface() {
       std::cref(row_matrix),
       row_matrix.cols(),
       row_matrix.rows(),
-      col_matrix.rows() - 1,
+      row_matrix.rows() - 1,
       row_matrix.row(row_matrix.rows() - 1).data());
 }
 
-TEST(EigenTest, Interface) {
+TEST(Eigen3TraitsTest, Interface) {
   // Spatial dimension known.
   CheckEigenAdaptorInterface<
       Eigen::Matrix<float, 4, Eigen::Dynamic, Eigen::ColMajor>,
@@ -47,11 +33,3 @@ TEST(EigenTest, Interface) {
       Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>,
       Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>();
 }
-
-TEST(EigenTest, TreeCompatibility) {
-  Eigen::Matrix4Xd matrix = Eigen::Matrix4Xd::Random(4, 8);
-
-  pico_tree::KdTree<Eigen::Matrix4Xd> tree(std::move(matrix), 10);
-
-  TestKnn(tree, 2);
-}

test/pico_tree/opencv_traits_test.cpp

@@ -1,11 +1,10 @@
 #include <gtest/gtest.h>
 
-#include <pico_tree/kd_tree.hpp>
 #include <pico_tree/opencv_traits.hpp>
 
 #include "common.hpp"
 
-TEST(OpenCvTest, Interface) {
+TEST(OpenCvTraitsTest, Interface) {
   using Scalar = float;
   int constexpr Dim = 3;
 
@@ -20,14 +19,3 @@ TEST(OpenCvTest, Interface) {
       matrix.rows - 1,
       row.ptr<Scalar>());
 }
-
-TEST(OpenCvTest, TreeCompatibility) {
-  using Scalar = float;
-
-  cv::Mat random(1024, 4, cv::DataType<Scalar>::type);
-  cv::randu(random, -Scalar(1.0), Scalar(1.0));
-
-  pico_tree::KdTree<pico_tree::MatWrapper<Scalar, 4>> tree(random, 10);
-
-  TestKnn(tree, 20);
-}

test/pico_tree/space_map_traits_test.cpp

@@ -0,0 +1,40 @@
+#include <gtest/gtest.h>
+
+#include <pico_toolshed/point.hpp>
+#include <pico_tree/map_traits.hpp>
+
+#include "common.hpp"
+
+TEST(SpaceMapTraitsTest, PointMap) {
+  constexpr pico_tree::Size Dim = 2;
+  std::vector<double> scalars = {1.0, 2.0, 3.0, 4.0};
+  pico_tree::SpaceMap<pico_tree::PointMap<double, Dim>> map_ct(
+      scalars.data(), scalars.size() / Dim);
+  pico_tree::SpaceMap<pico_tree::PointMap<double, pico_tree::kDynamicSize>>
+      map_rt(scalars.data(), scalars.size() / Dim, Dim);
+
+  CheckSpaceAdaptor<Dim>(
+      map_ct,
+      map_ct.sdim(),
+      map_ct.size(),
+      static_cast<pico_tree::Size>(0),
+      map_ct[0].data());
+  CheckSpaceAdaptor<pico_tree::kDynamicSize>(
+      map_rt,
+      map_rt.sdim(),
+      map_rt.size(),
+      static_cast<pico_tree::Size>(0),
+      map_rt[0].data());
+}
+
+TEST(SpaceMapTraitsTest, Point) {
+  std::vector<Point2f> points = {{1.0f, 2.0f}, {3.0f, 4.0f}};
+  pico_tree::SpaceMap<Point2f> map(points.data(), points.size());
+
+  CheckSpaceAdaptor<Point2f::Dim>(
+      map,
+      map.sdim(),
+      map.size(),
+      static_cast<pico_tree::Size>(0),
+      map[0].data());
+}

test/pico_tree/vector_traits_test.cpp

@@ -5,24 +5,29 @@
 
 #include "common.hpp"
 
-std::vector<Point2f> GetStdVector() { return {{1.0f, 2.0f}}; }
+TEST(VectorTraitsTest, Interface) {
+  std::vector<Point2f> points = {{1.0f, 2.0f}, {3.0f, 4.0f}};
 
-TEST(StdTraitsTest, StdVector) {
-  std::vector<Point2f> points = GetStdVector();
   CheckSpaceAdaptor<Point2f::Dim>(
       points,
       Point2f::Dim,
       points.size(),
-      static_cast<std::size_t>(0),
+      static_cast<pico_tree::Size>(0),
       points[0].data());
-}
-
-TEST(StdTraitsTest, StdRefVector) {
-  std::vector<Point2f> points = GetStdVector();
+  // VectorTraitsTest is used to test the default std::reference_wrapper<>
+  // specialization.
   CheckSpaceAdaptor<Point2f::Dim>(
       std::ref(points),
       Point2f::Dim,
       points.size(),
-      static_cast<std::size_t>(0),
+      static_cast<pico_tree::Size>(0),
+      points[0].data());
+  // VectorTraitsTest is used to test the default std::reference_wrapper<const>
+  // specialization.
+  CheckSpaceAdaptor<Point2f::Dim>(
+      std::cref(points),
+      Point2f::Dim,
+      points.size(),
+      static_cast<pico_tree::Size>(0),
       points[0].data());
 }