--- a/c/Motion.cpp	Fri Mar 02 19:32:54 2012 -0500
+++ b/c/Motion.cpp	Mon Mar 05 01:52:56 2012 -0500
@@ -84,7 +84,7 @@
       minDistance = distance;
     else if (distance > maxDistance)
       maxDistance = distance;
-    connected = connected && (maxDistance-minDistance < segmentationDistance);
+    connected = connected && (maxDistance-minDistance <= segmentationDistance);
     t++;
   }
 
@@ -177,10 +177,10 @@
   property_map<UndirectedGraph, int VertexInformation::*>::type components = get(&VertexInformation::index, graph);
 
   int num = connected_components(graph, components, vertex_index_map(get(&VertexInformation::index, graph)));
-  cout << "Total number of components: " << num << endl;
+  cout << "last instant threshold " << lastInstant << " Total number of components: " << num << endl;
 
-  vector<unsigned int> lastInstants(num, 0);
-  vector<vector<vertex_descriptor> > tmpobjects(num), objects;
+  vector<unsigned int> lastInstants(num, 0); // last instant of component with id
+  vector<vector<vertex_descriptor> > tmpobjects(num), objects; // vector of components (component = vector of vertex descriptors)
 
   graph_traits<UndirectedGraph>::vertex_iterator vi, vend;
   for(tie(vi,vend) = vertices(graph); vi != vend; ++vi) {

--- a/c/test_feature.cpp	Fri Mar 02 19:32:54 2012 -0500
+++ b/c/test_feature.cpp	Mon Mar 05 01:52:56 2012 -0500
@@ -1,15 +1,31 @@
 #define BOOST_TEST_MODULE traffic intelligence
 
+#include "Motion.hpp"
+#include "testutils.hpp"
+
+#include "opencv2/core/core.hpp"
+
 #include <boost/test/unit_test.hpp>
 #include <boost/test/floating_point_comparison.hpp>
 
 using namespace std;
+using namespace cv;
 
 BOOST_AUTO_TEST_SUITE(test_feature)
 
-BOOST_AUTO_TEST_CASE(feature_stationary) {
-  int i=5;
-  BOOST_CHECK_EQUAL(i, 5);
+BOOST_AUTO_TEST_CASE(feature_similarity) {
+  FeatureTrajectoryPtr ft1 = createFeatureTrajectory(1, 10, 20, Point2f(1,1), Point2f(0, 1));
+  FeatureTrajectoryPtr ft2 = createFeatureTrajectory(2, 10, 20, Point2f(2,1), Point2f(0, 1));
+
+  BOOST_CHECK(!ft1->minMaxSimilarity(*ft2, 10, 20, 0.5, 0.1));
+  BOOST_CHECK(ft1->minMaxSimilarity(*ft2, 10, 20, 1, 0.1));
+
+  ft2 = createFeatureTrajectory(2, 10, 19, Point2f(1,1), Point2f(0, 1));
+  Mat homography;
+  ft2->addPoint(20, Point2f(1,11.5), homography);
+  
+  BOOST_CHECK(!ft1->minMaxSimilarity(*ft2, 10, 20, 0, 0.4));
+  BOOST_CHECK(ft1->minMaxSimilarity(*ft2, 10, 20, 0, 0.5));
 }
 
 BOOST_AUTO_TEST_SUITE_END()

--- a/c/test_graph.cpp	Fri Mar 02 19:32:54 2012 -0500
+++ b/c/test_graph.cpp	Mon Mar 05 01:52:56 2012 -0500
@@ -6,15 +6,18 @@
 #include <boost/test/unit_test.hpp>
 #include <boost/test/floating_point_comparison.hpp>
 
+#include <iostream>
+
 using namespace std;
 using namespace cv;
 
 BOOST_AUTO_TEST_SUITE(test_graph)
 
-BOOST_AUTO_TEST_CASE(graph_add_delete) {
-  FeatureGraph featureGraph(5, 1, 5 /* min time interval */, 1.);
-  FeatureTrajectoryPtr ft1 = createFeatureTrajectory(10, 20, Point2f(1,1), Point2f(0.5, 0.));
-  FeatureTrajectoryPtr ft2 = createFeatureTrajectory(10, 20, Point2f(1.1,1), Point2f(0.5, 0.));
+BOOST_AUTO_TEST_CASE(graph_add_connected_components) {
+  FeatureGraph featureGraph(5, 1, 5 , 1.); // (float _connectionDistance, float _segmentationDistance, unsigned int _minFeatureTime, float _minNFeaturesPerGroup)
+  unsigned int lastInstant = 20;
+  FeatureTrajectoryPtr ft1 = createFeatureTrajectory(1, 10, lastInstant, Point2f(1,1), Point2f(0.5, 0.));
+  FeatureTrajectoryPtr ft2 = createFeatureTrajectory(2, 10, lastInstant, Point2f(1.1,1), Point2f(0.5, 0.));
 
   featureGraph.addFeature(ft1);
   BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 1);
@@ -24,7 +27,37 @@
   BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 2);
   BOOST_CHECK_EQUAL(featureGraph.getNEdges(), 1);
 
-  
+  featureGraph.connectedComponents(lastInstant);
+  vector<vector<unsigned int> > components = featureGraph.getFeatureGroups();
+  BOOST_CHECK_EQUAL(components.size(), 0);
+  BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 2);
+  BOOST_CHECK_EQUAL(featureGraph.getNEdges(), 1);
+
+  featureGraph.connectedComponents(lastInstant+1);
+  components = featureGraph.getFeatureGroups();
+  BOOST_CHECK_EQUAL(components.size(), 1);
+  BOOST_CHECK_EQUAL(components[0].size(), 2);
+  BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 0);
+  BOOST_CHECK_EQUAL(featureGraph.getNEdges(), 0);
+
+  // test connection distance
+  featureGraph.addFeature(ft1);
+  featureGraph.addFeature(ft2);
+  FeatureTrajectoryPtr ft3 = createFeatureTrajectory(3, 10, lastInstant, Point2f(6.05,1), Point2f(0.5, 0.)); // connected to ft2 only
+  featureGraph.addFeature(ft3);
+  FeatureTrajectoryPtr ft4 = createFeatureTrajectory(4, 10, lastInstant, Point2f(11.1,1), Point2f(0.5, 0.)); // not connected
+  featureGraph.addFeature(ft4);
+
+  BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 4);
+  BOOST_CHECK_EQUAL(featureGraph.getNEdges(), 2);
+
+  featureGraph.connectedComponents(lastInstant+1);
+  components = featureGraph.getFeatureGroups();
+  BOOST_CHECK_EQUAL(components.size(), 2);
+  BOOST_CHECK_EQUAL(components[0].size(), 3);
+  BOOST_CHECK_EQUAL(components[1].size(), 1);
+  BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 0);
+  BOOST_CHECK_EQUAL(featureGraph.getNEdges(), 0);
 }
 
 BOOST_AUTO_TEST_SUITE_END()

--- a/include/Motion.hpp	Fri Mar 02 19:32:54 2012 -0500
+++ b/include/Motion.hpp	Mon Mar 05 01:52:56 2012 -0500
@@ -116,8 +116,7 @@
   void connectedComponents(const int& lastInstant);
 
   /** Performs some checks on groups of features and return their lists of ids if correct
-      Removes the vertices from the graph
-   */
+      Removes the vertices from the graph */
   std::vector<std::vector<unsigned int> > getFeatureGroups(void);
 
   std::string informationString(void) const;

--- a/include/testutils.hpp	Fri Mar 02 19:32:54 2012 -0500
+++ b/include/testutils.hpp	Mon Mar 05 01:52:56 2012 -0500
@@ -7,14 +7,15 @@
 
 #include <boost/shared_ptr.hpp>
 
-inline boost::shared_ptr<FeatureTrajectory> createFeatureTrajectory(const int& firstInstant, const int& lastInstant, const cv::Point2f& firstPosition, const cv::Point2f& velocity) {
+inline boost::shared_ptr<FeatureTrajectory> createFeatureTrajectory(const unsigned int& id, const unsigned int& firstInstant, const unsigned int& lastInstant, const cv::Point2f& firstPosition, const cv::Point2f& velocity) {
   cv::Mat emptyHomography;
   boost::shared_ptr<FeatureTrajectory> t = boost::shared_ptr<FeatureTrajectory>(new FeatureTrajectory(firstInstant, firstPosition, emptyHomography));
   cv::Point2f p = firstPosition;
-  for (int i=firstInstant+1; i<=lastInstant; ++i) {
+  for (unsigned int i=firstInstant+1; i<=lastInstant; ++i) {
     p = p+velocity;
     t->addPoint(i, p, emptyHomography);
   }
+  t->setId(id);
   return t;
 }