Artur Mukhamadiev
cbe56d9193
Minimal API functionality with unit tests, could be used for integration tests with Unity server. For internal testing used RPC_server implementation
39 lines
912 B
C++
39 lines
912 B
C++
#include "cloud_point_rpc/service.hpp"
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namespace cloud_point_rpc {
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Service::Service(const TestData& data) : data_(data) {}
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std::vector<double> Service::get_intrinsic_params() const {
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if (data_.intrinsic_params.empty()) {
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// Fallback if no config loaded
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return {1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0};
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}
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return data_.intrinsic_params;
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}
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std::vector<double> Service::get_extrinsic_params() const {
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if (data_.extrinsic_params.empty()) {
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return {1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0};
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}
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return data_.extrinsic_params;
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}
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std::vector<std::vector<double>> Service::get_cloud_point() const {
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if (data_.cloud_point.empty()) {
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return {
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{0.1, 0.2, 0.3},
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{1.1, 1.2, 1.3},
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{2.1, 2.2, 2.3}
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};
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}
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return data_.cloud_point;
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}
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} // namespace cloud_point_rpc
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