Create unit tests.

[kmactavish]

I've started using the Catch unit testing framework. I'll add it in an upcoming pull request, but we should think about what unit tests would be beneficial for FabMap.

[lynnsky]

Sorry to bother you.I see you paper "Towards Hierarchical Place Recognition for Long-Term Autonomy".
Could I ask you how to get Precison-Recall curves using the New College datasets.I downloaded NewCollegeGroundTruth.mat. FabMap1.0 outputs a matrix psame.But this psame matrix is not a 0-1 matrix,and the high probability entries on the main diagonal indicate the detection of new places.
So I set main diagonal element in psame to 0.The matlab code:

psame=psame+diag(-diag(psame));
psame=(psame>=0.99);
npsame=length(find(psame==1));
tp=length(intersect(find(psame1==1),find(truth==1)));
ntruth=length(find(truth==1));
r=tp/ntruth;
p=tp/npsame;

Is it right?I find the ntruth is too big and tp is too small compared to npsame.

[kmactavish]

This belongs in a separate thread, you can tag people using @wengxiuling36 to bring them into the conversation. I've moved your question.

[lynnsky]

OK，You are so nice.Thank you @kmactavish