diff --git a/components/operators/CMakeLists.txt b/components/operators/CMakeLists.txt
index dea9b6df6d15d5c2d49b2d1b081a9fb82e5da16d..bc4edb1ea6ac6c10a0f3d14dfaa768e1a7732206 100644
--- a/components/operators/CMakeLists.txt
+++ b/components/operators/CMakeLists.txt
@@ -57,4 +57,6 @@ target_include_directories(ftloperators PUBLIC
target_link_libraries(ftloperators ftlrender ftlrgbd ftlcommon sgm libstereo Eigen3::Eigen Threads::Threads ${OpenCV_LIBS})
-#ADD_SUBDIRECTORY(test)
+if (BUILD_TESTS)
+ add_subdirectory(test)
+endif()
diff --git a/components/operators/include/ftl/algorithms/dbscan.hpp b/components/operators/include/ftl/algorithms/dbscan.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..7fd21bce1b04d2cd86d1a61dca6cc476d3e3ffc3
--- /dev/null
+++ b/components/operators/include/ftl/algorithms/dbscan.hpp
@@ -0,0 +1,99 @@
+#ifndef HPP_FTL_ALGORITHMS_DBSCAN_
+#define HPP_FTL_ALGORITHMS_DBSCAN_
+
+#include <vector>
+#include <deque>
+#include <opencv2/core/core.hpp>
+
+namespace ftl {
+
+/**
+ * DBSCAN clustering algorithm. Iterates over each points and assigns a label
+ * based on local neighborhood. Complexity O(n*O(RangeQuery)) for n points.
+ *
+ * points Input parameter: points
+ * RangeQuery function vector<size_t>(points, i, radius) which returns point
+ * indices (excluding input point with index i) which are within
+ * given radius. Called at least once for each point (but at most
+ * twice).
+ * min_points DBSCAN parameter: minimum cluster size (core point).
+ * radius DBSCAN parameter: search radius
+ * labels Output paramters: cluster labels. Negative labels are used for
+ * noise.
+ * centroids Output parameter: cluster centroids
+ */
+template<typename T>
+void dbscan(const std::vector<T> &points,
+ std::function<std::vector<size_t>(const std::vector<T>&, size_t, float)> RangeQuery,
+ unsigned int min_points, float radius,
+ std::vector<short> &labels, std::vector<T> ¢roids) {
+
+ const short NONE = -2;
+ const short NOISE = -1;
+
+ labels.resize(points.size());
+ std::fill(labels.begin(), labels.end(), NONE);
+
+ int cluster_count = 0;
+
+ for (unsigned i = 0; i < points.size(); i++) {
+ short cluster = NONE;
+
+ if (labels[i] != NONE) {
+ continue;
+ }
+
+ // get neighbours of points[i]
+ std::vector<size_t> neighbors = RangeQuery(points, i, radius);
+
+ if (neighbors.size() < min_points) {
+ labels[i] = NOISE;
+ continue;
+ }
+
+ // assign new cluster id
+ cluster = cluster_count++;
+
+ labels[i] = cluster;
+ T centroid = points[i];
+ int n_points = 1;
+
+ // seed_set: neighboring points to this cluster
+ std::deque<size_t> seed_set;
+ for (const auto &n : neighbors) {
+ seed_set.push_back(n);
+ }
+
+ while(!seed_set.empty()) {
+ auto i_n = seed_set.front();
+ seed_set.pop_front();
+
+ if (labels[i_n] == NOISE) {
+ // add to cluster (few lines down)
+ }
+ else if (labels[i_n] != NONE){
+ continue;
+ }
+
+ labels[i_n] = cluster;
+ centroid += points[i_n];
+ n_points++;
+
+ neighbors = RangeQuery(points, i_n, radius);
+
+ if (neighbors.size() < min_points) {
+ continue;
+ }
+ else {
+ for (const auto &n : neighbors) {
+ seed_set.push_back(n);
+ }
+ }
+ }
+
+ centroids.push_back(centroid/n_points);
+ }
+}
+
+}
+#endif
diff --git a/components/operators/test/CMakeLists.txt b/components/operators/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80673c7440209c27b7cf6b0cc04984648bc2bfff
--- /dev/null
+++ b/components/operators/test/CMakeLists.txt
@@ -0,0 +1,9 @@
+### DBSCAN Unit ################################################################
+add_executable(dbscan_unit
+ $<TARGET_OBJECTS:CatchTest>
+ ./dbscan_unit.cpp
+)
+target_include_directories(dbscan_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(dbscan_unit ftlcommon)
+
+add_test(DBSCANUnitTest dbscan_unit)
diff --git a/components/operators/test/data.hpp b/components/operators/test/data.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..e4d868af4f889c060dce012c8d5e91e92036685b
--- /dev/null
+++ b/components/operators/test/data.hpp
@@ -0,0 +1,3026 @@
+#pragma once
+
+#include <vector>
+#include <opencv2/core.hpp>
+
+/**
+ * Test data generated with sklearn.datasets (make_circles and make_moons)
+ * Two clusters in both.
+ *
+ * Visualization:
+ * https://scikit-learn.org/stable/auto_examples/cluster/plot_cluster_comparison.html
+ */
+
+static const std::vector<cv::Vec2f> noisy_circles {
+ {-0.677999, -0.698757},
+ {0.931437, 0.191391},
+ {0.548291, -0.006017},
+ {0.872837, 0.375023},
+ {0.435427, -0.294726},
+ {-0.536253, -0.163471},
+ {0.935534, -0.069950},
+ {0.159219, 0.971415},
+ {-0.611547, 0.751418},
+ {0.423040, -0.268125},
+ {0.173147, -0.458363},
+ {-0.219125, -0.398849},
+ {0.096109, -0.519602},
+ {-0.104486, 0.942077},
+ {0.967687, -0.174183},
+ {0.754242, -0.621617},
+ {-0.043996, -0.531987},
+ {0.430365, -0.355165},
+ {-1.027807, 0.155325},
+ {-0.228548, 0.382529},
+ {0.071758, 0.989000},
+ {0.655803, -0.812775},
+ {0.758490, 0.629618},
+ {-0.866656, -0.497841},
+ {-0.520035, 0.072190},
+ {0.394909, 0.221529},
+ {-0.480141, -0.098754},
+ {-0.184218, -0.921755},
+ {0.101596, 0.524727},
+ {-0.140615, -0.420062},
+ {0.305418, -0.305836},
+ {-0.850261, 0.502583},
+ {-0.520933, -0.010492},
+ {0.157637, 0.523338},
+ {-0.434189, 0.023918},
+ {0.316513, -0.394525},
+ {-0.603595, -0.675230},
+ {0.120921, -0.969693},
+ {-0.699461, -0.700145},
+ {-0.829813, 0.384497},
+ {-0.450135, -0.285030},
+ {0.342891, -0.455510},
+ {0.531814, 0.031431},
+ {0.738477, -0.657938},
+ {-0.615457, 0.768498},
+ {-0.378752, -0.893043},
+ {-0.469287, 0.170619},
+ {0.940516, -0.345081},
+ {0.280564, 0.318425},
+ {-0.375463, -0.387242},
+ {0.513356, 0.249786},
+ {-0.461774, -0.224138},
+ {0.053183, -0.948771},
+ {0.070808, -0.380032},
+ {-0.160072, -0.895151},
+ {-0.027487, -0.554549},
+ {0.912894, -0.342490},
+ {-0.441389, -0.890764},
+ {0.454790, 0.032809},
+ {-0.506644, 0.080482},
+ {-0.734677, -0.666446},
+ {0.860849, 0.554751},
+ {-0.456707, 0.221557},
+ {-0.331154, 0.969166},
+ {0.035349, 0.466655},
+ {-0.008867, 0.516405},
+ {-0.312811, -1.016868},
+ {-0.331718, -0.439313},
+ {-0.753690, -0.642232},
+ {-0.546627, 0.079896},
+ {0.914885, 0.087661},
+ {-0.946636, -0.593912},
+ {0.407068, 0.108282},
+ {-0.409579, 0.293544},
+ {0.418979, 0.871143},
+ {-0.079673, -0.959064},
+ {0.022271, 0.492024},
+ {-0.128445, 1.034038},
+ {0.296129, 0.927400},
+ {0.221448, -0.372743},
+ {0.423269, -0.212434},
+ {-0.924347, -0.351271},
+ {-0.605629, -0.715164},
+ {-0.765676, -0.728862},
+ {0.338073, 0.372803},
+ {-0.428441, 0.807283},
+ {0.333686, -0.263154},
+ {-0.524092, -0.848993},
+ {-0.038609, -0.995680},
+ {-0.984526, 0.046951},
+ {0.210340, -0.985424},
+ {0.008886, -0.996032},
+ {-0.659499, 0.594582},
+ {0.971926, 0.224894},
+ {-0.353677, -0.235196},
+ {-0.057825, -0.566347},
+ {0.871634, -0.633181},
+ {-0.321464, 0.931368},
+ {0.984817, 0.281003},
+ {0.087167, 0.529270},
+ {-0.388277, 0.193739},
+ {0.179648, -0.497591},
+ {0.551416, 0.873007},
+ {0.057045, 0.497796},
+ {-0.573832, 0.033362},
+ {0.074692, 0.579819},
+ {-0.952958, 0.325481},
+ {-0.732914, -0.528069},
+ {0.248820, -0.956671},
+ {-0.511009, 0.180196},
+ {-0.015967, 1.037270},
+ {0.961245, 0.087256},
+ {0.924577, 0.380657},
+ {0.694589, 0.584797},
+ {-0.168396, -0.486705},
+ {0.112856, 0.455664},
+ {0.905957, 0.235716},
+ {-0.193360, -0.380150},
+ {0.428584, 0.279267},
+ {-0.129808, -1.006865},
+ {0.849347, 0.433455},
+ {0.958172, -0.407165},
+ {-0.684629, -0.698642},
+ {-0.303698, -0.935910},
+ {-0.605071, -0.870112},
+ {-0.171775, 0.504553},
+ {-0.941087, -0.363499},
+ {-1.026895, -0.176613},
+ {0.251774, -0.375210},
+ {-0.039233, 0.508237},
+ {0.598627, 0.161475},
+ {0.150253, 0.467936},
+ {-0.158063, 0.993672},
+ {-0.174484, -0.490936},
+ {0.797353, -0.570802},
+ {-0.880238, 0.581656},
+ {0.248483, 0.975321},
+ {-0.764439, 0.640960},
+ {-0.555157, 0.222931},
+ {0.398577, -0.875908},
+ {-0.908205, 0.407285},
+ {0.539886, -0.845203},
+ {0.162116, 0.440918},
+ {0.481715, 0.116853},
+ {-0.049455, 0.973072},
+ {-1.094953, -0.026592},
+ {0.081761, -0.882492},
+ {-0.935893, 0.378655},
+ {0.397561, -0.169954},
+ {0.974016, 0.059282},
+ {-0.854687, 0.659927},
+ {-0.468957, -0.282842},
+ {0.980104, 0.249931},
+ {0.086943, 0.513643},
+ {0.541957, 0.144448},
+ {-0.019935, 0.411957},
+ {0.495279, -0.184585},
+ {-0.992969, 0.072164},
+ {-0.045094, 0.469167},
+ {0.909351, -0.449186},
+ {-0.225598, -0.473253},
+ {0.865109, -0.496427},
+ {-0.227253, 0.997429},
+ {-0.461060, -0.179750},
+ {0.254634, -0.391796},
+ {0.162349, 0.399205},
+ {-0.547372, 0.199308},
+ {0.432875, -0.288995},
+ {-0.838898, 0.395562},
+ {0.985178, 0.197549},
+ {-0.866028, -0.502550},
+ {0.507851, 0.173829},
+ {0.380959, -0.212232},
+ {-0.084691, 1.016472},
+ {-0.222872, 0.397240},
+ {-0.900582, -0.474540},
+ {0.237292, 0.830083},
+ {-0.462334, -0.958491},
+ {0.294507, -0.392423},
+ {0.660606, -0.680099},
+ {-0.852687, 0.549440},
+ {-0.307098, 0.859804},
+ {0.986497, -0.286053},
+ {1.072890, -0.014782},
+ {0.347051, -0.952041},
+ {0.792057, 0.622892},
+ {0.856374, -0.659352},
+ {0.716643, 0.739131},
+ {-0.949822, -0.413830},
+ {0.439084, 0.973049},
+ {-0.901443, 0.473575},
+ {-0.417679, -0.292204},
+ {-0.401663, 0.230490},
+ {-0.770459, -0.624693},
+ {0.104649, -0.419057},
+ {-0.351992, 0.925476},
+ {-0.461885, 0.081054},
+ {0.776156, 0.563417},
+ {-0.609453, 0.776124},
+ {-0.869826, 0.611030},
+ {-0.936343, -0.250396},
+ {0.947641, 0.195189},
+ {0.172001, 0.505505},
+ {0.670847, 0.722337},
+ {-0.128180, 0.382630},
+ {0.084943, 0.970973},
+ {0.502432, 0.836911},
+ {-0.765820, -0.598353},
+ {0.267783, -0.953261},
+ {-0.136963, 0.505817},
+ {0.526329, 0.006974},
+ {0.033778, -1.002287},
+ {1.060646, 0.045413},
+ {0.500939, -0.059420},
+ {-0.440592, -0.186962},
+ {-0.725037, -0.670232},
+ {-0.259295, -0.395699},
+ {0.356994, 0.302502},
+ {0.411269, -0.865534},
+ {-0.459595, 0.127022},
+ {0.187557, 0.503566},
+ {0.350990, 0.962713},
+ {0.946578, -0.211255},
+ {0.599337, -0.842506},
+ {-0.186974, -1.057288},
+ {-0.781941, -0.518192},
+ {0.504377, -0.112438},
+ {-0.424958, -0.131915},
+ {-0.988047, -0.290393},
+ {0.583738, 0.762403},
+ {0.905616, -0.191904},
+ {0.122915, -0.478367},
+ {0.321184, -0.380730},
+ {0.925293, -0.452892},
+ {0.177570, -0.932051},
+ {0.285047, 0.423628},
+ {-0.506985, -0.110505},
+ {0.482756, -0.083604},
+ {-0.308917, 1.035905},
+ {-0.486191, -0.079374},
+ {-0.109448, 0.483735},
+ {0.927042, 0.372615},
+ {-0.227088, 0.396412},
+ {0.194856, -0.431768},
+ {0.807127, 0.410153},
+ {-0.487039, -0.197967},
+ {-0.015964, -0.483816},
+ {-0.275203, -0.955066},
+ {-0.322384, 0.299988},
+ {-0.680302, 0.686720},
+ {0.300083, -0.209034},
+ {0.768799, -0.659106},
+ {-0.316121, 0.841761},
+ {-0.100478, 0.441617},
+ {-0.317351, 0.463191},
+ {-0.168533, -0.524660},
+ {-0.210372, 0.910182},
+ {0.380473, -0.301154},
+ {1.059209, -0.238330},
+ {-0.437668, 0.260651},
+ {-0.918127, -0.625615},
+ {0.661263, -0.592862},
+ {0.208281, 0.511717},
+ {-0.862470, 0.560693},
+ {-0.357175, -0.253458},
+ {0.419587, -0.862857},
+ {0.075456, -0.499759},
+ {-0.112886, 0.495239},
+ {-0.947117, 0.115546},
+ {-0.386086, -0.093426},
+ {0.397381, -0.358283},
+ {0.586201, -0.039841},
+ {0.373323, -0.211077},
+ {0.523411, -0.313837},
+ {-0.302930, 0.392802},
+ {-0.373475, -0.972741},
+ {-0.535744, -0.111344},
+ {0.030460, 0.952755},
+ {-0.833726, 0.623528},
+ {0.330402, -0.415524},
+ {0.198183, -0.417874},
+ {0.419158, -0.220807},
+ {0.243254, -0.480818},
+ {-0.164164, 0.447863},
+ {-0.356430, 0.316113},
+ {0.960673, -0.532562},
+ {-0.217009, 0.399249},
+ {-0.182977, -0.968204},
+ {-0.486861, 0.001070},
+ {-0.998201, 0.285770},
+ {-0.258566, -0.348945},
+ {1.001401, -0.083753},
+ {0.899496, 0.399639},
+ {-0.029120, -1.011456},
+ {-0.510889, -0.033808},
+ {-0.236222, 1.014309},
+ {-0.025134, 0.500611},
+ {-0.177920, 0.445065},
+ {0.458141, -0.109140},
+ {-0.764946, -0.621198},
+ {0.486058, -0.860182},
+ {0.727380, -0.663891},
+ {-0.896435, 0.431432},
+ {0.353965, 0.906513},
+ {0.494337, -0.865661},
+ {-0.677504, -0.798777},
+ {0.981943, 0.348849},
+ {-0.417313, 0.230326},
+ {-0.534694, 0.085594},
+ {-1.036211, 0.138269},
+ {0.470304, 0.116420},
+ {-0.758203, -0.634538},
+ {0.298848, 0.459691},
+ {0.866894, -0.494182},
+ {-0.887719, -0.376569},
+ {-0.462029, -0.263352},
+ {0.098598, 0.485244},
+ {-0.420278, -0.214920},
+ {0.946167, 0.515926},
+ {-0.341843, 0.925878},
+ {-0.867367, 0.397898},
+ {0.402215, 0.293868},
+ {-0.512864, -0.231789},
+ {0.547200, -0.109036},
+ {0.906324, 0.490822},
+ {-0.109815, 0.497706},
+ {-0.088632, -1.021199},
+ {-0.290762, -0.932944},
+ {-0.394197, 0.256479},
+ {-0.287780, 0.253140},
+ {-1.011401, -0.038588},
+ {0.360575, 0.294392},
+ {-0.297505, -0.231839},
+ {0.864790, 0.276511},
+ {-0.660445, 0.812650},
+ {-0.193294, 0.544461},
+ {0.406888, -0.296968},
+ {0.605198, 0.862784},
+ {0.216620, -0.431742},
+ {-0.519715, 0.175320},
+ {-0.836740, -0.527318},
+ {0.544606, 0.854625},
+ {-0.075076, 1.107216},
+ {-0.355730, 0.390136},
+ {0.178468, -0.516520},
+ {-0.414952, 0.230035},
+ {-0.400819, 0.301432},
+ {0.047976, -0.430378},
+ {0.045276, -0.968817},
+ {0.173568, -0.500156},
+ {0.412780, 0.205282},
+ {-0.179633, -0.530022},
+ {-0.492470, -0.942870},
+ {-0.842717, 0.046667},
+ {0.253652, -0.423416},
+ {-0.175362, -0.491158},
+ {-0.251316, -0.452699},
+ {0.347521, -0.337458},
+ {-0.428995, -0.840094},
+ {0.455201, 0.287714},
+ {0.226316, -0.935593},
+ {0.834339, 0.359791},
+ {-0.051508, -0.432374},
+ {-0.151291, -0.915885},
+ {0.746569, 0.736690},
+ {0.254548, 0.416879},
+ {-0.446322, -0.292015},
+ {-0.145351, -0.490869},
+ {0.896341, 0.382621},
+ {-0.299118, 0.359764},
+ {0.783893, 0.606463},
+ {-0.605867, -0.777543},
+ {0.104327, -0.497191},
+ {1.010678, -0.084427},
+ {0.134126, -0.483766},
+ {-0.432429, 0.846934},
+ {0.814122, -0.561370},
+ {0.953933, -0.213570},
+ {0.220573, -0.982055},
+ {0.012950, 0.994213},
+ {0.211678, 0.947325},
+ {0.183041, -0.410490},
+ {-0.841034, 0.397786},
+ {0.974489, 0.088833},
+ {-0.183430, -0.928581},
+ {0.306613, -0.350987},
+ {-0.622288, -0.834056},
+ {0.019717, -1.008886},
+ {-0.476608, -0.078728},
+ {-0.979637, -0.093796},
+ {0.218740, 0.481157},
+ {-0.352026, -0.354291},
+ {0.317821, -0.236924},
+ {0.419291, 0.326369},
+ {-0.549357, 0.053576},
+ {0.508234, -0.296205},
+ {0.725601, -0.751717},
+ {-0.088771, -0.456016},
+ {1.046336, 0.000276},
+ {-0.215564, 0.455457},
+ {-0.508651, 0.056324},
+ {0.510434, -0.888738},
+ {0.117664, 0.525736},
+ {-0.380721, 0.227415},
+ {0.478517, -0.122766},
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+ {0.418982, -0.324877},
+ {0.513648, 0.881750},
+ {0.389844, 0.224851},
+ {0.909708, 0.223947},
+ {-0.320696, -0.223657},
+ {0.195747, 0.454857},
+ {-0.472384, -0.971927},
+ {0.818149, -0.552201},
+ {0.300139, 1.023248},
+ {-0.475618, 0.766312},
+ {0.952992, -0.295727},
+ {-0.156673, -0.960558},
+ {-0.072489, -1.029532},
+ {0.565584, -0.871809},
+ {0.968489, -0.416161},
+ {-0.158193, -0.469685},
+ {-0.035628, -0.566708},
+ {-0.868991, -0.393100},
+ {0.120758, 0.482890},
+ {-0.499142, -0.133691},
+ {0.718468, -0.673767},
+ {0.483947, 0.200953},
+ {0.504083, -0.092725},
+ {-0.380365, -0.348349},
+ {0.644130, 0.753145},
+ {0.325310, 0.443521},
+ {-0.712700, -0.626573},
+ {0.432635, -0.220105},
+ {0.509025, -0.003331},
+ {-0.140491, 0.458993},
+ {0.554641, 0.831357},
+ {0.382893, 0.180935},
+ {0.856840, 0.624508},
+ {0.306591, 0.314238},
+ {-0.157257, -0.989907},
+ {0.271623, 0.321017},
+ {0.045540, 1.064526},
+ {0.742861, 0.603701},
+ {-0.076098, -0.977182},
+ {0.897281, -0.340274},
+ {-0.878503, 0.487946},
+ {0.361002, -0.343894},
+ {0.236070, -0.887971},
+ {-0.418928, 0.076475},
+ {0.310445, -0.936192},
+ {-0.679949, 0.792224},
+ {-0.238985, 0.434101},
+ {0.222413, -0.405034},
+ {0.473205, 0.034184},
+ {0.406588, 0.274089},
+ {-0.345188, -0.358048},
+ {0.017197, -0.945138},
+ {0.913779, -0.598842}
+};
+
+static const std::vector<short> noisy_circles_labels {
+ 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0,
+};
+
+static const std::vector<cv::Vec2f> noisy_moons {
+ {0.496271, -0.342753},
+ {-0.166300, 0.922342},
+ {0.718956, 0.665290},
+ {-0.337840, 0.912074},
+ {0.103768, 0.116946},
+ {0.702804, 0.667720},
+ {-0.614904, 0.881684},
+ {0.667835, -0.456815},
+ {0.803439, 0.768419},
+ {0.434519, 0.833548},
+ {-0.451526, 0.867688},
+ {0.573179, -0.413433},
+ {1.566417, -0.440186},
+ {1.396258, -0.353635},
+ {1.011969, -0.562964},
+ {1.071866, -0.033929},
+ {-0.067705, 0.985937},
+ {1.739636, -0.173039},
+ {0.214441, -0.128790},
+ {0.984292, -0.469513},
+ {1.998867, 0.349441},
+ {1.132009, -0.548606},
+ {0.082511, 0.989596},
+ {0.713686, -0.499899},
+ {-1.036180, 0.389093},
+ {0.475082, -0.369990},
+ {0.185801, 0.952638},
+ {0.119731, 0.022406},
+ {1.993655, 0.445478},
+ {0.637446, 0.747901},
+ {1.068196, -0.482278},
+ {-0.148474, 1.050313},
+ {0.386807, 0.980657},
+ {-0.178671, 0.940450},
+ {1.282258, -0.396343},
+ {-0.980326, 0.100863},
+ {1.987377, 0.464477},
+ {0.126748, -0.112373},
+ {0.444394, -0.291783},
+ {0.615013, 0.724495},
+ {-0.907856, 0.515206},
+ {0.006890, 0.971489},
+ {1.815501, 0.005442},
+ {1.973811, 0.316884},
+ {0.888139, -0.557867},
+ {0.013169, 1.014930},
+ {1.958637, 0.154446},
+ {0.466269, 0.879144},
+ {0.423977, 0.988572},
+ {0.669984, 0.789333},
+ {0.549956, 0.826760},
+ {0.652881, 0.678939},
+ {0.167620, 0.124025},
+ {2.021983, 0.289367},
+ {2.036312, 0.392123},
+ {-0.705304, 0.802209},
+ {0.721721, -0.446847},
+ {-1.057252, 0.288871},
+ {0.538738, 0.707988},
+ {-0.730453, 0.641255},
+ {-0.085058, 1.040617},
+ {0.446517, 0.817575},
+ {0.895367, 0.414274},
+ {0.299042, -0.121882},
+ {0.340815, -0.268886},
+ {0.640343, -0.425107},
+ {-0.104821, 0.874745},
+ {1.025808, 0.030871},
+ {1.500083, -0.388380},
+ {1.058557, -0.486871},
+ {0.153143, 0.143906},
+ {0.698832, 0.732750},
+ {0.337857, 1.001806},
+ {0.582376, 0.779731},
+ {0.516631, 0.908242},
+ {-0.012161, 0.549717},
+ {0.377415, -0.209377},
+ {0.398307, 0.876080},
+ {0.079609, 0.407017},
+ {0.932146, 0.253114},
+ {0.390304, -0.209082},
+ {-0.548919, 0.775369},
+ {0.601761, -0.472310},
+ {0.330164, -0.214821},
+ {1.870198, 0.073266},
+ {0.239898, -0.051028},
+ {-0.173536, 1.009318},
+ {0.596136, -0.400319},
+ {0.573521, -0.352605},
+ {2.056516, 0.169410},
+ {0.608283, 0.768349},
+ {0.009094, 0.943835},
+ {0.940722, 0.280645},
+ {0.460975, -0.396293},
+ {1.592816, -0.425294},
+ {1.495644, -0.381199},
+ {1.721367, -0.131403},
+ {1.575977, -0.286960},
+ {0.020088, 0.569959},
+ {0.811551, 0.576702},
+ {0.055550, 0.272523},
+ {1.819475, -0.054582},
+ {1.103558, -0.453437},
+ {0.409392, 1.025252},
+ {0.737369, 0.751975},
+ {0.872074, 0.504964},
+ {0.785829, -0.466771},
+ {0.962392, -0.564115},
+ {-0.110210, 0.953938},
+ {-0.070268, 0.997614},
+ {1.378774, -0.458579},
+ {1.738328, -0.388595},
+ {0.639144, -0.496515},
+ {0.078786, -0.000002},
+ {0.040087, 0.090268},
+ {1.576896, -0.287797},
+ {-0.200912, 1.063326},
+ {0.998387, 0.144506},
+ {0.323512, -0.122834},
+ {0.264926, 1.015290},
+ {0.100261, -0.065602},
+ {1.658930, -0.317580},
+ {1.947505, 0.131751},
+ {0.983862, -0.484429},
+ {0.157345, -0.017765},
+ {0.891421, -0.564348},
+ {1.660918, -0.357718},
+ {-0.800244, 0.655224},
+ {-0.887394, 0.572426},
+ {0.192676, -0.208585},
+ {0.436821, -0.373582},
+ {1.544492, -0.292624},
+ {0.781851, 0.650672},
+ {-0.974938, 0.423303},
+ {2.057088, 0.445394},
+ {0.104283, 0.139031},
+ {-0.900360, 0.514926},
+ {0.110123, 0.152040},
+ {0.132428, -0.100307},
+ {1.588997, -0.316330},
+ {0.635979, -0.299898},
+ {-0.931900, 0.393856},
+ {0.439267, -0.440381},
+ {0.141521, 0.106246},
+ {-0.918870, 0.431856},
+ {0.962587, -0.431892},
+ {-0.217579, 0.993247},
+ {0.800562, -0.441895},
+ {-1.040423, 0.047103},
+ {1.044428, 0.208865},
+ {1.810265, 0.077613},
+ {1.759604, -0.009136},
+ {0.902235, 0.578826},
+ {-0.012210, 0.400599},
+ {-0.821795, 0.444680},
+ {0.193363, -0.173325},
+ {1.713100, -0.297758},
+ {-0.967452, 0.222840},
+ {1.055905, -0.589195},
+ {0.504378, 0.887087},
+ {0.547195, 0.819841},
+ {0.299226, -0.193671},
+ {1.487537, -0.376296},
+ {0.835609, 0.513659},
+ {0.658154, -0.423461},
+ {1.233342, -0.417314},
+ {0.809141, 0.420955},
+ {0.746324, 0.693303},
+ {0.949128, 0.445078},
+ {1.054587, 0.125273},
+ {0.517902, 0.890201},
+ {1.768829, -0.051471},
+ {0.205701, -0.161854},
+ {0.739271, 0.680402},
+ {0.262667, 0.935655},
+ {0.342983, -0.260148},
+ {1.475912, -0.406119},
+ {-0.504364, 0.856305},
+ {1.913484, 0.238542},
+ {0.004023, 0.175472},
+ {-0.554247, 0.674363},
+ {0.970432, 0.213194},
+ {0.928017, 0.114638},
+ {1.114424, -0.505299},
+ {0.413875, 1.037991},
+ {-0.909651, 0.566537},
+ {0.129417, 0.983640},
+ {0.252087, -0.173061},
+ {2.046959, 0.181122},
+ {0.668592, 0.790053},
+ {1.040943, 0.045980},
+ {-0.942211, 0.466921},
+ {0.899339, -0.583971},
+ {-0.948669, 0.430538},
+ {-0.028274, 1.008480},
+ {0.377596, -0.349484},
+ {0.177070, 0.978919},
+ {2.010137, 0.261438},
+ {-0.411131, 0.892558},
+ {1.306855, -0.507745},
+ {-1.060357, 0.038647},
+ {-0.736548, 0.808592},
+ {1.910212, 0.181975},
+ {0.877901, -0.447353},
+ {0.852328, 0.416398},
+ {-0.369799, 0.969105},
+ {1.331886, -0.389373},
+ {-0.020269, 0.176746},
+ {0.466894, -0.341575},
+ {-0.488444, 0.868594},
+ {1.583979, -0.333800},
+ {0.680046, -0.516741},
+ {-0.433420, 0.840947},
+ {2.047737, 0.115775},
+ {-0.025382, 0.204912},
+ {0.040868, 0.437197},
+ {1.409347, -0.322897},
+ {0.241290, -0.148644},
+ {0.547439, 0.792839},
+ {0.419439, 0.934155},
+ {0.990374, 0.317210},
+ {-0.932609, 0.226892},
+ {0.964145, 0.154370},
+ {0.365350, 0.880556},
+ {1.966250, 0.282548},
+ {1.382008, -0.428482},
+ {1.774570, -0.079093},
+ {1.279362, -0.475287},
+ {-0.327030, 0.942494},
+ {-0.846831, 0.598684},
+ {1.821176, 0.154144},
+ {-0.297012, 0.964664},
+ {0.284678, -0.246232},
+ {0.036619, 0.871615},
+ {-0.882686, 0.561393},
+ {0.463534, -0.405212},
+ {-1.019289, 0.096581},
+ {1.186580, -0.503269},
+ {1.064199, 0.203492},
+ {-0.014080, 0.984262},
+ {-0.260531, 0.937734},
+ {0.476119, 0.888053},
+ {-0.899156, 0.370780},
+ {-0.967527, 0.198586},
+ {0.080516, 0.304394},
+ {-0.152795, 0.994968},
+ {0.134037, -0.026378},
+ {0.342460, 0.048616},
+ {0.789416, -0.523685},
+ {1.758768, -0.136356},
+ {0.380487, 0.954451},
+ {0.291565, -0.184119},
+ {-0.571589, 0.771131},
+ {-0.078582, 0.267424},
+ {-0.897296, 0.405563},
+ {-0.734993, 0.686952},
+ {-0.082654, 0.991224},
+ {0.358199, -0.181583},
+ {0.458459, -0.396925},
+ {0.172811, 0.984229},
+ {0.740393, -0.470821},
+ {1.006055, 0.239333},
+ {-0.431573, 0.914546},
+ {1.696607, -0.309738},
+ {1.932289, 0.376846},
+ {0.929765, 0.453516},
+ {2.035588, 0.568315},
+ {0.976158, 0.124099},
+ {0.463355, -0.424725},
+ {-0.601509, 0.752203},
+ {-0.562183, 0.802706},
+ {0.572949, 0.839057},
+ {0.405519, -0.279836},
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+ {1.797159, -0.225232},
+ {1.851369, 0.019509},
+ {-0.283105, 0.926137},
+ {-0.332006, 0.897045},
+ {0.697053, 0.674013},
+ {-0.584869, 0.754202},
+ {1.410478, -0.486355},
+ {0.287750, 0.903310},
+ {2.012718, 0.390410},
+ {1.903221, 0.379131},
+ {-0.196606, 1.033605},
+ {1.918604, 0.333567},
+ {-0.511178, 0.915872},
+ {0.251228, -0.121687},
+ {0.424416, -0.280077},
+ {-0.827322, 0.636587},
+ {0.723174, 0.733239},
+ {0.314638, 0.918349},
+ {-0.198637, 0.852728},
+ {1.403938, -0.402679},
+ {0.169446, 1.059232},
+ {1.861147, 0.020544},
+ {-0.875108, 0.614762},
+ {-0.431734, 0.877782},
+ {-0.473136, 0.958484},
+ {-0.005458, 0.493191},
+ {-0.779139, 0.791404},
+ {0.062583, 0.223050},
+ {1.450417, -0.321252},
+ {1.457999, -0.323413},
+ {-0.521386, 0.858724},
+ {1.159840, -0.501402},
+ {0.205773, -0.082981},
+ {0.452968, 0.808904},
+ {0.632244, 0.834704},
+ {0.027568, 0.405447},
+ {1.005634, -0.060669},
+ {1.173155, -0.403369},
+ {1.415813, -0.360574},
+ {-0.755428, 0.645590},
+ {-0.921456, 0.104213},
+ {0.319172, 0.959075},
+ {-0.721720, 0.629173},
+ {0.559405, -0.415354},
+ {1.154913, -0.486450},
+ {1.874627, 0.186733},
+ {0.129949, 1.025790},
+ {0.915931, -0.453787},
+ {0.965287, 0.047880},
+ {1.659713, -0.289383},
+ {1.058690, -0.531482},
+ {1.300179, -0.476471},
+ {1.011569, 0.049704},
+ {1.935927, 0.205163},
+ {0.647294, -0.501768},
+ {0.196952, -0.131321},
+ {0.768647, 0.625616},
+ {-0.268717, 0.917226},
+ {0.910211, -0.515727},
+ {1.517311, -0.313105},
+ {-0.896194, 0.268710},
+ {1.079940, -0.470747},
+ {0.819778, 0.514925},
+ {-0.945710, 0.255479},
+ {0.122346, 0.051894},
+ {1.787602, -0.139645},
+ {0.752995, 0.515553},
+ {0.180700, 0.006226},
+ {-0.812868, 0.575579},
+ {-0.233209, 0.953957},
+ {0.423760, -0.306385},
+ {-0.760465, 0.707430},
+ {1.752590, -0.159040},
+ {-0.047417, 1.142527},
+ {0.103935, -0.066128},
+ {1.716572, -0.148447},
+ {0.062318, -0.103880},
+ {-0.899097, 0.400504},
+ {1.183183, -0.511290},
+ {1.902193, 0.154401},
+ {-0.103015, 1.005290},
+ {0.300173, -0.307560},
+ {0.257369, 0.968842},
+ {1.109539, 0.205086},
+ {0.770578, 0.568366},
+ {0.934577, 0.060062},
+ {0.969279, 0.282622},
+ {1.654506, -0.246114},
+ {0.032389, 0.169729},
+ {0.050433, 0.403408},
+ {1.600779, -0.341651},
+ {-0.957760, 0.337992},
+ {0.855063, -0.508219},
+ {1.747808, -0.193790},
+ {0.653936, 0.794221},
+ {1.393704, -0.430918},
+ {2.026835, 0.404619},
+ {0.582225, 0.810004},
+ {0.900367, 0.247613},
+ {0.223586, -0.021075},
+ {1.913451, 0.078152},
+ {-0.939789, 0.600428},
+ {0.634625, -0.382429},
+ {1.185619, -0.384662},
+ {0.301292, -0.396078},
+ {0.062252, 0.188547},
+ {0.439219, 0.809028},
+ {0.114075, 0.086596},
+ {0.385133, 0.924554},
+ {0.636800, -0.372632},
+ {0.274617, -0.202793},
+ {1.972595, 0.127309},
+ {0.137737, 0.092172},
+ {-0.044042, 1.066223},
+ {0.546031, 0.878942},
+ {0.849479, 0.411200},
+ {0.215150, 0.099633},
+ {0.908682, -0.476567},
+ {0.495083, 0.941848},
+ {-0.752203, 0.614888},
+ {0.619550, -0.325722},
+ {-0.833069, 0.540707},
+ {1.887803, -0.164009},
+ {1.901957, 0.181567},
+ {-0.376925, 0.949594},
+ {0.341581, 0.966420},
+ {-0.073042, 0.397439},
+ {0.021347, 0.296053},
+ {-0.642642, 0.716163},
+ {1.937418, 0.231237},
+ {1.406181, -0.399618},
+ {0.243133, -0.237591},
+ {1.046156, -0.455960},
+ {0.196480, 0.990915},
+ {-0.678494, 0.746111},
+ {1.480257, -0.350615},
+ {1.495622, -0.416584},
+ {0.627392, 0.820522},
+ {-0.845936, 0.240077},
+ {0.176938, 0.156807},
+ {1.623276, -0.226135},
+ {0.025651, 0.264181},
+ {0.736717, -0.510448},
+ {1.759529, -0.164661},
+ {0.992858, 0.297352},
+ {1.004335, 0.050847},
+ {-0.329659, 0.829825},
+ {1.959744, 0.319912},
+ {1.917142, 0.079347},
+ {1.779574, -0.063431},
+ {1.956901, 0.417775},
+ {-0.838951, 0.550627},
+ {-0.312107, 0.972094},
+ {0.054083, 1.055564},
+ {1.939328, 0.029565},
+ {0.766661, 0.556358},
+ {0.994651, 0.068223},
+ {0.076859, 0.337722},
+ {-0.630298, 0.809767},
+ {-0.447665, 0.797417},
+ {-0.422787, 0.921586},
+ {0.199731, -0.283831},
+ {-1.082445, 0.130062},
+ {0.932234, 0.388892},
+ {1.795673, -0.195881},
+ {0.788854, 0.498824},
+ {0.241845, 0.906703},
+ {0.309588, -0.181482},
+ {1.393854, -0.445827},
+ {-0.668386, 0.729540},
+ {0.897551, 0.245724},
+ {0.079552, 0.124947},
+ {0.905924, 0.329091},
+ {0.474081, 0.860559},
+ {1.869998, -0.016190},
+ {-0.433127, 0.809947},
+ {1.909509, 0.029897},
+ {0.546231, -0.360031},
+ {0.040900, 0.370693}
+};
+
+static const std::vector<short> noisy_moons_labels {
+0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0,
+};
diff --git a/components/operators/test/dbscan_unit.cpp b/components/operators/test/dbscan_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4d892b6a32d350acb36aee2402d4aced4e6ee5a1
--- /dev/null
+++ b/components/operators/test/dbscan_unit.cpp
@@ -0,0 +1,139 @@
+#include <catch.hpp>
+#include <random>
+
+
+#include <opencv2/core.hpp>
+#include <ftl/algorithms/dbscan.hpp>
+
+#include <ftl/profiler.hpp>
+
+#include "data.hpp"
+
+using std::vector;
+
+template<typename T>
+static vector<size_t> linearSearch(const vector<T> &points, size_t idx, float radius) {
+ vector<size_t> neighbors;
+ for (auto i = 0u; i < points.size(); i++) {
+ if (i == idx) {
+ continue;
+ }
+ if (cv::norm(points[idx] - points[i]) < radius) {
+ neighbors.push_back(i);
+ }
+ }
+ return neighbors;
+}
+
+TEST_CASE("DBSCAN 3D clustering (linear search)") {
+ vector<cv::Vec3f> points {
+ {1.0,2.1,3.0},
+ {1.0,1.9,3.0},
+ {1.0,2.0,3.0},
+ {1.0,1.9,3.0},
+ {1.0,2.1,3.0},
+
+ {3.0,2.1,1.0},
+ {3.0,2.0,1.0},
+ {3.0,2.0,1.0},
+ {3.0,2.0,1.0},
+ {3.0,1.9,1.0}
+ };
+
+ vector<cv::Vec3f> centroids;
+ vector<short> labels;
+ ftl::dbscan<cv::Vec3f>(points, linearSearch<cv::Vec3f>, 3, 1.0f, labels, centroids);
+
+ REQUIRE(centroids.size() == 2);
+ REQUIRE(centroids[0] == cv::Vec3f(1,2,3));
+ REQUIRE(centroids[1] == cv::Vec3f(3,2,1));
+}
+
+TEST_CASE("DBSCAN 3D clustering (random points)") {
+
+ std::random_device rd;
+ std::mt19937::result_type seed = rd();
+
+ vector<cv::Vec3f> true_centroids = {
+ { 1, 5, 3},
+ { 3, 5, 1},
+ { 0, 0, 0},
+ { 3, 3, 3},
+ {-3,-3,-3},
+ { 7, 7, 7},
+ {-7,-7,-7},
+ };
+
+ int n_points = 16;
+ float sigma = 0.33;
+ float eps = sigma; // error threshold for test case
+
+ vector<cv::Vec3f> points;
+ std::mt19937 gen(seed);
+
+ for (const auto &c : true_centroids) {
+ std::normal_distribution<float> x{c[0], sigma};
+ std::normal_distribution<float> y{c[1], sigma};
+ std::normal_distribution<float> z{c[2], sigma};
+
+ for (int i = 0; i < n_points; i++) {
+ points.push_back({x(gen), y(gen), z(gen)});
+ }
+ }
+
+ vector<cv::Vec3f> centroids;
+ vector<short> labels;
+ ftl::dbscan<cv::Vec3f>(points, linearSearch<cv::Vec3f>, 8, 1.0f, labels, centroids);
+
+ REQUIRE(centroids.size() == true_centroids.size());
+ for (unsigned i = 0; i < true_centroids.size(); i++) {
+ // assumes same order as points were added (no shuffle)
+ REQUIRE(cv::norm(centroids[i] - true_centroids[i]) < eps);
+ }
+}
+
+TEST_CASE("DBSCAN 2D clustering (noisy moons)") {
+
+ vector<cv::Vec2f> centroids;
+ vector<short> labels;
+ {
+ //ftl::Profiler __profile(__func__, "DBSCAN 1500 points linear search", 0);
+ //__profile.verbosity(1);
+
+ // ~ 10ms (release)
+ ftl::dbscan<cv::Vec2f>(noisy_moons, linearSearch<cv::Vec2f>, 5, 0.2f, labels, centroids);
+ }
+
+ // assumes clustering returns same labels each time
+ REQUIRE(centroids.size() == 2);
+ REQUIRE(cv::norm(centroids[0] - cv::Vec2f(1.0, 0.0)) < 0.15); // 0.13359162681252454
+ REQUIRE(cv::norm(centroids[1] - cv::Vec2f(0.0, 0.5)) < 0.15); // 0.13651460122147505
+
+ for (unsigned i = 0; i < labels.size(); i++) {
+ if (labels[i] < 0) continue; // label: NOISE
+ REQUIRE(labels[i] == noisy_moons_labels[i]);
+ }
+}
+
+TEST_CASE("DBSCAN 2D clustering (noisy circles)") {
+
+ vector<cv::Vec2f> centroids;
+ vector<short> labels;
+ {
+ //ftl::Profiler __profile(__func__, "DBSCAN 1500 points linear search", 0);
+ //__profile.verbosity(1);
+
+ // ~10ms (release)
+ ftl::dbscan<cv::Vec2f>(noisy_circles, linearSearch<cv::Vec2f>, 5, 0.1f, labels, centroids);
+ }
+
+ // assumes clustering returns same labels each time
+ REQUIRE(centroids.size() == 2);
+ REQUIRE(cv::norm(centroids[0]) < 0.01); // 0.0008899436718976423
+ REQUIRE(cv::norm(centroids[0]) < 0.01); // 0.0014477936451883612
+ for (unsigned i = 0; i < labels.size(); i++) {
+ if (labels[i] < 0) continue; // label: NOISE
+ REQUIRE(labels[i] == noisy_circles_labels[i]);
+ }
+}
+
diff --git a/components/operators/test/tests.cpp b/components/operators/test/tests.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..178916eab8b9c7aabb87ff99894b48443ad6ecb6
--- /dev/null
+++ b/components/operators/test/tests.cpp
@@ -0,0 +1,3 @@
+#define CATCH_CONFIG_MAIN
+#include "catch.hpp"
+