Artur Mukhamadiev
f8177d8926
- Parse port inside try block for proper error reporting instead of unhandled exception - Make frame_counter atomic to eliminate data race under TcpServer per-client threads - Validate num_disparities is positive multiple of 16 in StereoMatcherFactory - Validate stereo pair dimensions match in ScaredDatasetLoader - Silence nodiscard warnings via std::ignore in tests TG-3 #ready-for-test TG-2 #ready-for-test
81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
#include <gtest/gtest.h>
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#include <opencv2/core.hpp>
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#include <tuple>
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#include "cloud_point/cpu_stereo_matcher.hpp"
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#include "cloud_point/gpu_stereo_matcher.hpp"
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#include "cloud_point/stereo_matcher_factory.hpp"
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using namespace score;
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namespace {
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/// @brief Create a simple synthetic stereo pair with a horizontal shift.
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std::pair<cv::Mat, cv::Mat> make_synthetic_stereo(int shift = 2) {
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cv::Mat left = cv::Mat::zeros(100, 100, CV_8UC1);
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cv::Mat right = cv::Mat::zeros(100, 100, CV_8UC1);
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for (int y = 0; y < 100; ++y) {
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for (int x = 0; x < 100; ++x) {
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left.at<uchar>(y, x) = static_cast<uchar>(x % 256);
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right.at<uchar>(y, x) = static_cast<uchar>((x + shift) % 256);
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}
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}
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return {left, right};
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}
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} // namespace
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TEST(StereoMatcherTest, CpuMatcherComputesDisparity) {
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auto [left, right] = make_synthetic_stereo();
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CpuStereoMatcher matcher;
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cv::Mat disparity = matcher.compute(left, right);
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EXPECT_FALSE(disparity.empty());
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EXPECT_EQ(disparity.rows, left.rows);
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EXPECT_EQ(disparity.cols, left.cols);
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}
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TEST(StereoMatcherTest, FactoryCpuCreatesNonNull) {
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auto matcher = StereoMatcherFactory::create(StereoAlgorithmType::CPU);
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ASSERT_NE(matcher, nullptr);
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auto [left, right] = make_synthetic_stereo();
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cv::Mat disparity = matcher->compute(left, right);
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EXPECT_FALSE(disparity.empty());
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}
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TEST(StereoMatcherTest, FactoryRejectsInvalidNumDisparities) {
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EXPECT_THROW(std::ignore = StereoMatcherFactory::create(
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StereoAlgorithmType::CPU, 0),
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std::invalid_argument);
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EXPECT_THROW(std::ignore = StereoMatcherFactory::create(
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StereoAlgorithmType::CPU, -16),
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std::invalid_argument);
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EXPECT_THROW(std::ignore = StereoMatcherFactory::create(
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StereoAlgorithmType::CPU, 150),
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std::invalid_argument);
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}
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TEST(StereoMatcherTest, FactoryAcceptsValidNumDisparities) {
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auto matcher = StereoMatcherFactory::create(StereoAlgorithmType::CPU, 160);
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ASSERT_NE(matcher, nullptr);
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}
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TEST(StereoMatcherTest, FactoryGpuFallsBackToCpuWhenUnavailable) {
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// On this machine CUDA is absent; factory should fall back to CPU.
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auto matcher = StereoMatcherFactory::create(StereoAlgorithmType::GPU);
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ASSERT_NE(matcher, nullptr);
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auto [left, right] = make_synthetic_stereo();
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EXPECT_NO_THROW(std::ignore = matcher->compute(left, right));
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}
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TEST(StereoMatcherTest, GpuMatcherThrowsOnThisMachine) {
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// Direct construction of GpuStereoMatcher should throw because
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// HAVE_OPENCV_CUDA is undefined here.
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EXPECT_THROW(GpuStereoMatcher(), std::runtime_error);
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}
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