Artur Mukhamadiev
508570cb5c
- add block-averaged PLY grid decimation with validity-aware vertex generation - validate and load ply_stride and wls_filter from cloud_point configuration - pass matcher tuning through CloudPointClient and apply both settings in CLI exports - cover stride averaging, sparse blocks, invalid values, and config parsing
77 lines
2.9 KiB
C++
77 lines
2.9 KiB
C++
#include <cstdio>
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#include <fstream>
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#include <gtest/gtest.h>
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#include <string>
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#include <tuple>
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#include "cloud_point_rpc/config.hpp"
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namespace {
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struct TempConfig {
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std::string path;
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explicit TempConfig(const std::string &yaml)
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: path("test_config_" +
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std::to_string(reinterpret_cast<uintptr_t>(this)) + ".yaml") {
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std::ofstream(path) << yaml;
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}
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~TempConfig() { std::remove(path.c_str()); }
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};
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} // namespace
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TEST(ConfigLoaderTest, CloudPointSectionDefaultsWhenAbsent) {
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TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n");
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const auto c = score::ConfigLoader::load(cfg.path);
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EXPECT_EQ(c.cloud_point.algorithm, "gpu");
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EXPECT_EQ(c.cloud_point.num_disparities, 128);
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EXPECT_DOUBLE_EQ(c.cloud_point.min_depth_m, 0.01);
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EXPECT_DOUBLE_EQ(c.cloud_point.max_depth_m, 10.0);
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}
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TEST(ConfigLoaderTest, CloudPointSectionIsParsed) {
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TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
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"cloud_point:\n algorithm: cpu\n num_disparities: 160\n"
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" min_depth_m: 0.02\n max_depth_m: 0.3\n");
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const auto c = score::ConfigLoader::load(cfg.path);
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EXPECT_EQ(c.cloud_point.algorithm, "cpu");
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EXPECT_EQ(c.cloud_point.num_disparities, 160);
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EXPECT_DOUBLE_EQ(c.cloud_point.min_depth_m, 0.02);
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EXPECT_DOUBLE_EQ(c.cloud_point.max_depth_m, 0.3);
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}
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TEST(ConfigLoaderTest, CloudPointExportAndFilterKeys) {
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TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
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"cloud_point:\n ply_stride: 4\n wls_filter: true\n");
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const auto c = score::ConfigLoader::load(cfg.path);
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EXPECT_EQ(c.cloud_point.ply_stride, 4);
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EXPECT_TRUE(c.cloud_point.wls_filter);
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TempConfig bad("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
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"cloud_point:\n ply_stride: 0\n");
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EXPECT_THROW(std::ignore = score::ConfigLoader::load(bad.path),
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std::runtime_error);
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}
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TEST(ConfigLoaderTest, CloudPointPartialSectionKeepsDefaults) {
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TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
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"cloud_point:\n max_depth_m: 0.5\n");
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const auto c = score::ConfigLoader::load(cfg.path);
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EXPECT_EQ(c.cloud_point.algorithm, "gpu");
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EXPECT_EQ(c.cloud_point.num_disparities, 128);
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EXPECT_DOUBLE_EQ(c.cloud_point.max_depth_m, 0.5);
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}
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TEST(ConfigLoaderTest, CloudPointRejectsBadAlgorithm) {
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TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
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"cloud_point:\n algorithm: fpga\n");
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EXPECT_THROW(std::ignore = score::ConfigLoader::load(cfg.path),
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std::runtime_error);
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}
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TEST(ConfigLoaderTest, CloudPointRejectsInvertedDepthRange) {
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TempConfig cfg("server:\n ip: \"127.0.0.1\"\n port: 8080\n"
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"cloud_point:\n min_depth_m: 1.0\n max_depth_m: 0.5\n");
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EXPECT_THROW(std::ignore = score::ConfigLoader::load(cfg.path),
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std::runtime_error);
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}
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