• loadMap() : testing_helpers.h
• loadMaps() : testing_helpers.h
• main() : map_merge.cpp , test_merging_pipeline.cpp
• randomAngleTxTy() : testing_helpers.h
• randomTransform() : testing_helpers.h
• randomTransformMatrix() : testing_helpers.h
• saveMap() : testing_helpers.h
• TEST() : test_merging_pipeline.cpp