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lardon3d/tests/test_geometric_verifier_core.cpp

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#include <cerrno>
#include <climits>
#include <cmath>
#include <cstdio>
#include <cstring>
#include <dirent.h>
#include <fcntl.h>
#include <limits>
#include <openssl/evp.h>
#include <sqlite3.h>
#include <string>
#include <sys/stat.h>
#include <unistd.h>
#include <vector>
extern "C" {
#include <lardon3d/app_state.h>
#include <lardon3d/feature_store.h>
#include <lardon3d/geometric_verifier.h>
#include <lardon3d/match_file.h>
}
static int failures;
struct Fixture {
char root[PATH_MAX];
char database_path[PATH_MAX];
Lardon3DAppState state;
Lardon3DProjectDbFeatureSet set_a;
Lardon3DProjectDbFeatureSet set_b;
Lardon3DProjectDbCandidatePair pair;
uint32_t parent_sequence;
};
static void to_hex(const unsigned char *bytes, size_t size, char *output) {
static const char digits[] = "0123456789abcdef";
for (size_t index = 0; index < size; ++index) {
output[2 * index] = digits[bytes[index] >> 4U];
output[2 * index + 1] = digits[bytes[index] & 15U];
}
output[2 * size] = '\0';
}
#define CHECK(expression) \
do { \
if (!(expression)) { \
std::fprintf(stderr, "FAIL %s:%d: %s\n", __FILE__, __LINE__, \
#expression); \
++failures; \
} \
} while (0)
static bool join_path(char output[PATH_MAX], const char *left,
const char *right) {
int length = std::snprintf(output, PATH_MAX, "%s/%s", left, right);
return length > 0 && length < PATH_MAX;
}
static bool remove_tree(const char *path) {
struct stat information;
if (lstat(path, &information) != 0)
return errno == ENOENT;
if (!S_ISDIR(information.st_mode))
return unlink(path) == 0;
DIR *directory = opendir(path);
if (!directory)
return false;
bool ok = true;
for (dirent *entry = readdir(directory); entry; entry = readdir(directory)) {
if (std::strcmp(entry->d_name, ".") == 0 ||
std::strcmp(entry->d_name, "..") == 0)
continue;
char child[PATH_MAX];
if (!join_path(child, path, entry->d_name) || !remove_tree(child))
ok = false;
}
if (closedir(directory) != 0 || rmdir(path) != 0)
ok = false;
return ok;
}
static bool execute_sql(const char *path, const char *sql) {
sqlite3 *connection = nullptr;
if (sqlite3_open(path, &connection) != SQLITE_OK)
return false;
bool ok =
sqlite3_exec(connection, sql, nullptr, nullptr, nullptr) == SQLITE_OK;
return sqlite3_close(connection) == SQLITE_OK && ok;
}
static void image_asset_path(const unsigned char hash[32], char path[4096]) {
static const char digits[] = "0123456789abcdef";
char hex[65];
for (size_t index = 0; index < 32; ++index) {
hex[2 * index] = digits[hash[index] >> 4U];
hex[2 * index + 1] = digits[hash[index] & 15U];
}
hex[64] = '\0';
(void)std::snprintf(path, 4096, "assets/images/%c%c/%s", hex[0], hex[1], hex);
}
static bool register_image(Fixture *fixture, unsigned char seed,
Lardon3DProjectDbImage *image) {
unsigned char hash[32];
std::memset(hash, seed, sizeof(hash));
char path[4096];
image_asset_path(hash, path);
Lardon3DProjectDbImageRegisterStatus status;
return lardon3d_project_db_register_image(
fixture->state.project_db, 1, hash, path, 1, "fixture.bin",
"/fixture.bin", 0, seed, &status, image) == LARDON3D_PROJECT_DB_OK;
}
static bool publish_features(Fixture *fixture,
const Lardon3DProjectDbImage *image,
unsigned char salt,
Lardon3DProjectDbFeatureSet *set) {
constexpr uint32_t feature_count = LARDON3D_MATCH_FILE_MAX_MATCHES;
std::vector<Lardon3DFeatureKeypoint> keypoints(feature_count);
std::vector<unsigned char> descriptors(
static_cast<size_t>(feature_count) * 32, salt);
for (uint32_t index = 0; index < feature_count; ++index) {
uint32_t source = salt == 4 ? (index * 3511U) % feature_count : index;
keypoints[index].x = 20.0F + static_cast<float>(source % 128U) * 7.0F;
keypoints[index].y = 20.0F + static_cast<float>(source / 128U) * 7.0F;
if (salt == 4)
keypoints[index].x -= 5.0F;
keypoints[index].size = 1.0F;
}
Lardon3DExtractedFeatures features = {};
features.image_width = 1024;
features.image_height = 768;
features.feature_count = feature_count;
features.keypoints = keypoints.data();
features.descriptors = descriptors.data();
features.descriptor_bytes = descriptors.size();
unsigned char fingerprint[32];
std::memset(fingerprint, salt, sizeof(fingerprint));
return lardon3d_feature_store_publish_v2(
&fixture->state, image->image_id, 0, "orb", 1, fingerprint,
LARDON3D_FEATURE_DESCRIPTOR_U8, 32, 0, &features,
set) == LARDON3D_FEATURE_STORE_OK;
}
static bool fixture_create(Fixture *fixture) {
std::memset(fixture, 0, sizeof(*fixture));
char root[] = "/tmp/lardon3d-geometric-core-XXXXXX";
char *created = mkdtemp(root);
if (!created ||
std::snprintf(fixture->root, sizeof(fixture->root), "%s", created) <= 0 ||
!join_path(fixture->database_path, fixture->root, "project.db"))
return false;
lardon3d_app_state_init(&fixture->state);
char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
if (lardon3d_project_db_open(fixture->database_path,
&fixture->state.project_db,
error) != LARDON3D_PROJECT_DB_OK)
return false;
fixture->state.project_loaded = true;
(void)std::snprintf(fixture->state.project_path,
sizeof(fixture->state.project_path), "%s", fixture->root);
Lardon3DProjectDbScanSet scanset;
Lardon3DProjectDbImage image_a, image_b;
return lardon3d_project_db_create_scanset(fixture->state.project_db,
"geometry", &scanset) ==
LARDON3D_PROJECT_DB_OK &&
scanset.scanset_id == 1 && register_image(fixture, 1, &image_a) &&
register_image(fixture, 2, &image_b) &&
publish_features(fixture, &image_a, 3, &fixture->set_a) &&
publish_features(fixture, &image_b, 4, &fixture->set_b) &&
lardon3d_project_db_create_candidate_pair(
fixture->state.project_db, image_a.image_id, image_b.image_id, 1,
&fixture->pair) == LARDON3D_PROJECT_DB_OK;
}
static void fixture_destroy(Fixture *fixture) {
if (fixture->state.project_db)
lardon3d_project_db_close(fixture->state.project_db);
fixture->state.project_db = nullptr;
CHECK(remove_tree(fixture->root));
}
static bool sha256_file(const char *path, unsigned char output[32],
uint64_t *size) {
int descriptor = open(path, O_RDONLY | O_CLOEXEC);
if (descriptor < 0)
return false;
EVP_MD_CTX *context = EVP_MD_CTX_new();
bool ok = context && EVP_DigestInit_ex(context, EVP_sha256(), nullptr) == 1;
unsigned char bytes[4096];
uint64_t total = 0;
for (;;) {
ssize_t count = read(descriptor, bytes, sizeof(bytes));
if (count < 0) {
ok = false;
break;
}
if (count == 0)
break;
total += static_cast<uint64_t>(count);
if (EVP_DigestUpdate(context, bytes, static_cast<size_t>(count)) != 1)
ok = false;
}
unsigned int digest_size = 0;
ok = ok && EVP_DigestFinal_ex(context, output, &digest_size) == 1 &&
digest_size == 32;
EVP_MD_CTX_free(context);
if (close(descriptor) != 0)
ok = false;
*size = total;
return ok;
}
static void put_u32(unsigned char bytes[4], uint32_t value) {
for (unsigned int index = 0; index < 4; ++index)
bytes[index] = static_cast<unsigned char>(value >> (8U * index));
}
static bool create_parent(Fixture *fixture, uint32_t count,
uint64_t *parent_id) {
++fixture->parent_sequence;
char relative[64];
char full[PATH_MAX];
int length = std::snprintf(relative, sizeof(relative), "matches-%u.bin",
fixture->parent_sequence);
if (length <= 0 || length >= static_cast<int>(sizeof(relative)) ||
!join_path(full, fixture->root, relative))
return false;
std::vector<Lardon3DMatchFileEntry> entries(count);
for (uint32_t index = 0; index < count; ++index) {
entries[index].feature_index_a = index;
entries[index].feature_index_b = count == 0 ? 0 : (index * 7U) % count;
entries[index].distance = static_cast<float>(index + 1U);
}
int descriptor = open(full, O_WRONLY | O_CREAT | O_EXCL | O_CLOEXEC, 0600);
if (descriptor < 0)
return false;
bool ok = lardon3d_match_file_write(
descriptor, LARDON3D_FEATURE_DESCRIPTOR_U8, 32,
fixture->set_a.feature_set_id, fixture->set_b.feature_set_id,
entries.data(), count) == LARDON3D_MATCH_FILE_OK;
if (close(descriptor) != 0)
ok = false;
unsigned char sha256[32];
uint64_t size = 0;
if (!ok || !sha256_file(full, sha256, &size))
return false;
unsigned char fingerprint[32];
std::memset(fingerprint, static_cast<int>(fixture->parent_sequence),
sizeof(fingerprint));
Lardon3DProjectDbMatchResult parent;
if (lardon3d_project_db_create_match_result(
fixture->state.project_db, fixture->pair.candidate_pair_id,
fixture->set_a.feature_set_id, fixture->set_b.feature_set_id,
"fixture", 1, fingerprint, LARDON3D_MATCH_RESULT_STATUS_MATCHED,
count, sha256, relative, size, fixture->parent_sequence,
&parent) != LARDON3D_PROJECT_DB_OK)
return false;
*parent_id = parent.match_result_id;
return true;
}
static std::string mask_bits(uint32_t count, uint32_t inliers,
uint32_t stride = 1) {
std::string bits(count, '0');
uint32_t position = 0;
for (uint32_t selected = 0; selected < inliers; ++selected) {
while (bits[position] == '1')
position = (position + 1U) % count;
bits[position] = '1';
position = (position + stride) % count;
}
return bits;
}
static void test_parameters_and_fingerprint() {
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
CHECK(lardon3d_geometric_verifier_parameters_valid(&parameters));
unsigned char first[32], second[32], changed[32];
lardon3d_geometric_verifier_fingerprint(&parameters, first);
lardon3d_geometric_verifier_fingerprint(&parameters, second);
CHECK(std::memcmp(first, second, sizeof(first)) == 0);
auto differs = [&](Lardon3DGeometricVerifierParameters changed_parameters) {
lardon3d_geometric_verifier_fingerprint(&changed_parameters, changed);
return std::memcmp(first, changed, sizeof(first)) != 0;
};
parameters.threshold_pixels = 2.0;
CHECK(differs(parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.confidence = 0.99;
CHECK(differs(parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.max_iterations = 4000;
CHECK(differs(parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.min_inlier_count = 17;
CHECK(differs(parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.min_inlier_ratio = 0.21;
CHECK(differs(parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.seed_policy_version = 2;
CHECK(differs(parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.canonicalization_version = 2;
CHECK(differs(parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
unsigned char default_bytes[LARDON3D_GEOMETRIC_VERIFIER_FINGERPRINT_SIZE];
unsigned char changed_bytes[LARDON3D_GEOMETRIC_VERIFIER_FINGERPRINT_SIZE];
CHECK(lardon3d_geometric_verifier_fingerprint_bytes(
&parameters, LARDON3D_GEOMETRIC_ALGORITHM_USAC_MAGSAC, 1, default_bytes));
CHECK(lardon3d_geometric_verifier_fingerprint_bytes(
&parameters, LARDON3D_GEOMETRIC_ALGORITHM_USAC_DEFAULT, 1,
changed_bytes));
CHECK(std::memcmp(default_bytes, changed_bytes, sizeof(default_bytes)) != 0);
CHECK(lardon3d_geometric_verifier_fingerprint_bytes(
&parameters, LARDON3D_GEOMETRIC_ALGORITHM_USAC_MAGSAC, 2, changed_bytes));
CHECK(std::memcmp(default_bytes, changed_bytes, sizeof(default_bytes)) != 0);
CHECK(default_bytes[83] == 0);
parameters.min_inlier_ratio = 0.0;
CHECK(lardon3d_geometric_verifier_parameters_valid(&parameters));
CHECK(lardon3d_geometric_verifier_fingerprint_bytes(
&parameters, LARDON3D_GEOMETRIC_ALGORITHM_USAC_MAGSAC, 1, default_bytes));
parameters.min_inlier_ratio = -0.0;
CHECK(lardon3d_geometric_verifier_fingerprint_bytes(
&parameters, LARDON3D_GEOMETRIC_ALGORITHM_USAC_MAGSAC, 1, changed_bytes));
CHECK(std::memcmp(default_bytes, changed_bytes, sizeof(default_bytes)) == 0);
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.confidence = 1.0;
CHECK(!lardon3d_geometric_verifier_parameters_valid(&parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.threshold_pixels = std::numeric_limits<double>::quiet_NaN();
CHECK(!lardon3d_geometric_verifier_parameters_valid(&parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.max_iterations = std::numeric_limits<uint32_t>::max();
CHECK(!lardon3d_geometric_verifier_parameters_valid(&parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
parameters.min_inlier_count = 8193;
CHECK(!lardon3d_geometric_verifier_parameters_valid(&parameters));
parameters = lardon3d_geometric_verifier_default_parameters();
CHECK(lardon3d_geometric_verifier_fingerprint_bytes(
&parameters, LARDON3D_GEOMETRIC_ALGORITHM_USAC_MAGSAC, 1, default_bytes));
char encoded_hex[2 * LARDON3D_GEOMETRIC_VERIFIER_FINGERPRINT_SIZE + 1];
char fingerprint_hex[65];
to_hex(default_bytes, sizeof(default_bytes), encoded_hex);
to_hex(first, sizeof(first), fingerprint_hex);
CHECK(std::strcmp(
encoded_hex,
"4c3344475646503101000000010000000100000001000000000000000000f83f"
"2b8716d9cef7ef3f88130000100000009a9999999999c93f0100000001000000"
"0200020001050000000e00000001030300000000") == 0);
CHECK(
std::strcmp(
fingerprint_hex,
"ddb44bb070c62be66c405946e89cbb49c084f8f30a21d6f408dc239225b7bbd0") ==
0);
}
static void test_seed() {
unsigned char match[32] = {};
unsigned char fingerprint[32] = {};
uint32_t first = lardon3d_geometric_verifier_seed(match, fingerprint);
CHECK(first == lardon3d_geometric_verifier_seed(match, fingerprint));
match[31] = 1;
CHECK(first != lardon3d_geometric_verifier_seed(match, fingerprint));
CHECK(lardon3d_geometric_verifier_seed(nullptr, fingerprint) == 0);
CHECK(first == 1803944746U);
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
unsigned char production_fingerprint[32];
lardon3d_geometric_verifier_fingerprint(&parameters, production_fingerprint);
CHECK(lardon3d_geometric_verifier_seed(match, production_fingerprint) ==
1910542150U);
}
static void test_canonicalization() {
const double source[9] = {-2.0, 1.0, 0.0, 0.5, -0.25, 0.0, 0.0, 0.0, 0.0};
double positive[9], negative[9], scaled[9], half[9];
for (size_t index = 0; index < 9; ++index) {
positive[index] = source[index];
negative[index] = -source[index];
scaled[index] = 2.0 * source[index];
half[index] = 0.5 * source[index];
}
CHECK(lardon3d_geometric_verifier_canonicalize(positive));
CHECK(lardon3d_geometric_verifier_canonicalize(negative));
CHECK(lardon3d_geometric_verifier_canonicalize(scaled));
CHECK(lardon3d_geometric_verifier_canonicalize(half));
CHECK(std::memcmp(positive, negative, sizeof(positive)) == 0);
for (size_t index = 0; index < 9; ++index)
CHECK(positive[index] == scaled[index]);
for (size_t index = 0; index < 9; ++index)
CHECK(positive[index] == half[index]);
CHECK(positive[0] > 0.0);
double zero[9] = {};
CHECK(!lardon3d_geometric_verifier_canonicalize(zero));
double invalid[9] = {std::numeric_limits<double>::infinity()};
CHECK(!lardon3d_geometric_verifier_canonicalize(invalid));
invalid[0] = -std::numeric_limits<double>::infinity();
CHECK(!lardon3d_geometric_verifier_canonicalize(invalid));
invalid[0] = std::numeric_limits<double>::quiet_NaN();
CHECK(!lardon3d_geometric_verifier_canonicalize(invalid));
double tie[9] = {-1.0, 1.0};
CHECK(lardon3d_geometric_verifier_canonicalize(tie));
CHECK(tie[0] > 0.0 && tie[1] < 0.0);
double tiny[9] = {std::numeric_limits<double>::denorm_min()};
CHECK(lardon3d_geometric_verifier_canonicalize(tiny));
CHECK(tiny[0] == 1.0);
}
static bool
mask_matches(const Lardon3DProjectDbGeometricVerificationResult &result,
const std::string &bits) {
if (result.inlier_mask_size != (bits.size() + 7U) / 8U)
return false;
for (size_t index = 0; index < bits.size(); ++index) {
bool stored = (result.inlier_mask[index / 8U] & (1U << (index % 8U))) != 0;
if (stored != (bits[index] == '1'))
return false;
}
return true;
}
static bool
run_controlled(Fixture *fixture, uint64_t parent_id, const std::string &bits,
const Lardon3DGeometricVerifierParameters *parameters,
Lardon3DProjectDbGeometricVerificationResult *result,
bool *reused) {
if (setenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR", "controlled", 1) != 0 ||
setenv("LARDON3D_TEST_GEOMETRIC_MASK", bits.c_str(), 1) != 0)
return false;
Lardon3DGeometricVerifierResult status =
lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, parent_id, parameters,
result, reused);
(void)unsetenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR");
(void)unsetenv("LARDON3D_TEST_GEOMETRIC_MASK");
return status == LARDON3D_GEOMETRIC_VERIFIER_OK;
}
static void test_e2e_and_reuse(Fixture *fixture) {
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
uint64_t verified_parent = 0;
CHECK(create_parent(fixture, 32, &verified_parent));
std::string verified_bits = mask_bits(32, 20, 7);
Lardon3DProjectDbGeometricVerificationResult verified;
bool reused = false;
lardon3d_geometric_verifier_test_reset_estimator_calls();
CHECK(run_controlled(fixture, verified_parent, verified_bits, &parameters,
&verified, &reused));
CHECK(!reused && lardon3d_geometric_verifier_test_estimator_calls() == 1);
CHECK(verified.status == LARDON3D_GEOMETRIC_VERIFIED && verified.has_model &&
verified.inlier_count == 20 && mask_matches(verified, verified_bits));
double norm = 0.0;
for (double value : verified.model) {
CHECK(std::isfinite(value));
norm = std::hypot(norm, value);
}
CHECK(std::fabs(norm - 1.0) < 1e-15);
Lardon3DProjectDbGeometricVerificationResult reused_verified;
CHECK(run_controlled(fixture, verified_parent, verified_bits, &parameters,
&reused_verified, &reused));
CHECK(reused && lardon3d_geometric_verifier_test_estimator_calls() == 1 &&
reused_verified.geometric_verification_result_id ==
verified.geometric_verification_result_id);
uint64_t rejected_parent = 0;
CHECK(create_parent(fixture, 32, &rejected_parent));
std::string rejected_bits = mask_bits(32, 15, 5);
Lardon3DProjectDbGeometricVerificationResult rejected;
CHECK(run_controlled(fixture, rejected_parent, rejected_bits, &parameters,
&rejected, &reused));
CHECK(!reused && rejected.status == LARDON3D_GEOMETRIC_REJECTED &&
!rejected.has_model && rejected.inlier_count == 15 &&
mask_matches(rejected, rejected_bits));
uint32_t calls_after_rejected =
lardon3d_geometric_verifier_test_estimator_calls();
CHECK(run_controlled(fixture, rejected_parent, rejected_bits, &parameters,
&rejected, &reused));
CHECK(reused && lardon3d_geometric_verifier_test_estimator_calls() ==
calls_after_rejected);
parameters.threshold_pixels = 2.0;
Lardon3DProjectDbGeometricVerificationResult different;
CHECK(run_controlled(fixture, verified_parent, verified_bits, &parameters,
&different, &reused));
CHECK(!reused && different.geometric_verification_result_id !=
verified.geometric_verification_result_id);
}
static void test_scientific_boundaries(Fixture *fixture) {
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
uint64_t insufficient_parent = 0;
CHECK(create_parent(fixture, 6, &insufficient_parent));
Lardon3DProjectDbGeometricVerificationResult insufficient;
bool reused = false;
lardon3d_geometric_verifier_test_reset_estimator_calls();
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, insufficient_parent,
&parameters, &insufficient,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_OK);
CHECK(!reused && insufficient.status == LARDON3D_GEOMETRIC_REJECTED &&
insufficient.inlier_count == 0 && !insufficient.has_model &&
insufficient.inlier_mask_size == 1 &&
insufficient.inlier_mask[0] == 0 &&
lardon3d_geometric_verifier_test_estimator_calls() == 0);
uint64_t empty_parent = 0;
CHECK(create_parent(fixture, 16, &empty_parent));
CHECK(setenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR", "empty", 1) == 0);
Lardon3DProjectDbGeometricVerificationResult empty;
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, empty_parent, &parameters,
&empty, &reused) == LARDON3D_GEOMETRIC_VERIFIER_OK);
CHECK(unsetenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR") == 0);
CHECK(empty.status == LARDON3D_GEOMETRIC_REJECTED &&
empty.inlier_count == 0 && !empty.has_model);
for (uint32_t inliers : {15U, 16U, 17U}) {
uint64_t parent = 0;
CHECK(create_parent(fixture, 80, &parent));
std::string bits = mask_bits(80, inliers, 9);
Lardon3DProjectDbGeometricVerificationResult result;
CHECK(run_controlled(fixture, parent, bits, &parameters, &result, &reused));
CHECK(result.inlier_count == inliers && mask_matches(result, bits));
CHECK(result.status == (inliers >= 16 ? LARDON3D_GEOMETRIC_VERIFIED
: LARDON3D_GEOMETRIC_REJECTED));
}
}
static void test_mask_boundaries(Fixture *fixture) {
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
parameters.min_inlier_count = 1;
parameters.min_inlier_ratio = 0.0;
for (uint32_t count : {1U, 2U}) {
uint64_t parent = 0;
CHECK(create_parent(fixture, count, &parent));
Lardon3DProjectDbGeometricVerificationResult result;
bool reused = false;
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, parent, &parameters,
&result, &reused) == LARDON3D_GEOMETRIC_VERIFIER_OK);
CHECK(result.status == LARDON3D_GEOMETRIC_REJECTED &&
result.inlier_count == 0 && result.inlier_mask_size == 1 &&
result.inlier_mask[0] == 0);
}
for (uint32_t count : {7U, 8U, 9U, 63U, 64U, 65U, 8191U, 8192U}) {
uint64_t parent = 0;
CHECK(create_parent(fixture, count, &parent));
std::string bits = mask_bits(count, (count + 1U) / 2U, 11);
Lardon3DProjectDbGeometricVerificationResult result;
bool reused = false;
CHECK(run_controlled(fixture, parent, bits, &parameters, &result, &reused));
CHECK(!reused && result.status == LARDON3D_GEOMETRIC_VERIFIED &&
result.inlier_count == (count + 1U) / 2U &&
mask_matches(result, bits));
unsigned int remainder = count % 8U;
if (remainder != 0)
CHECK((result.inlier_mask[result.inlier_mask_size - 1] &
static_cast<unsigned char>(0xffU << remainder)) == 0);
}
}
static void test_failures(Fixture *fixture) {
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
for (const char *behavior :
{"error", "malformed-mask", "malformed-model", "nan-model"}) {
uint64_t parent = 0;
CHECK(create_parent(fixture, 32, &parent));
CHECK(setenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR", behavior, 1) == 0);
Lardon3DProjectDbGeometricVerificationResult result;
bool reused = false;
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, parent, &parameters,
&result, &reused) == LARDON3D_GEOMETRIC_VERIFIER_ESTIMATOR_ERROR);
CHECK(unsetenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR") == 0);
unsigned char fingerprint[32];
lardon3d_geometric_verifier_fingerprint(&parameters, fingerprint);
CHECK(lardon3d_project_db_find_geometric_verification_result(
fixture->state.project_db, parent,
LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1, fingerprint,
&result) == LARDON3D_PROJECT_DB_NOT_FOUND);
}
uint64_t publication_parent = 0;
CHECK(create_parent(fixture, 32, &publication_parent));
std::string bits = mask_bits(32, 20, 3);
CHECK(setenv("LARDON3D_TEST_GEOMETRIC_PUBLICATION_FAILURE", "1", 1) == 0);
CHECK(setenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR", "controlled", 1) == 0);
CHECK(setenv("LARDON3D_TEST_GEOMETRIC_MASK", bits.c_str(), 1) == 0);
Lardon3DProjectDbGeometricVerificationResult result;
bool reused = false;
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, publication_parent,
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_DATABASE_ERROR);
CHECK(unsetenv("LARDON3D_TEST_GEOMETRIC_PUBLICATION_FAILURE") == 0);
CHECK(unsetenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR") == 0);
CHECK(unsetenv("LARDON3D_TEST_GEOMETRIC_MASK") == 0);
unsigned char fingerprint[32];
lardon3d_geometric_verifier_fingerprint(&parameters, fingerprint);
CHECK(lardon3d_project_db_find_geometric_verification_result(
fixture->state.project_db, publication_parent,
LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1, fingerprint,
&result) == LARDON3D_PROJECT_DB_NOT_FOUND);
CHECK(run_controlled(fixture, publication_parent, bits, &parameters, &result,
&reused));
CHECK(!reused && result.status == LARDON3D_GEOMETRIC_VERIFIED);
uint64_t allocation_parent = 0;
CHECK(create_parent(fixture, 32, &allocation_parent));
CHECK(setenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR", "bad-alloc", 1) == 0);
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, allocation_parent,
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_OUT_OF_MEMORY);
CHECK(unsetenv("LARDON3D_TEST_GEOMETRIC_ESTIMATOR") == 0);
}
static void test_parent_and_asset_failures(Fixture *fixture) {
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
Lardon3DProjectDbGeometricVerificationResult result;
bool reused = false;
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, UINT64_C(999999),
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_NOT_FOUND);
unsigned char fingerprint[32] = {};
Lardon3DProjectDbMatchResult no_match;
CHECK(lardon3d_project_db_create_match_result(
fixture->state.project_db, fixture->pair.candidate_pair_id,
fixture->set_a.feature_set_id, fixture->set_b.feature_set_id,
"no-match", 1, fingerprint, LARDON3D_MATCH_RESULT_STATUS_NO_MATCH,
0, nullptr, nullptr, 0, 1, &no_match) == LARDON3D_PROJECT_DB_OK);
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, no_match.match_result_id,
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_NOT_FOUND);
uint64_t missing_asset_parent = 0;
CHECK(create_parent(fixture, 32, &missing_asset_parent));
Lardon3DProjectDbMatchResult parent;
CHECK(lardon3d_project_db_load_match_result(fixture->state.project_db,
missing_asset_parent, &parent) ==
LARDON3D_PROJECT_DB_OK);
char full[PATH_MAX];
CHECK(join_path(full, fixture->root, parent.match_asset_path));
CHECK(unlink(full) == 0);
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, missing_asset_parent,
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_CORRUPT);
uint64_t truncated_parent = 0;
CHECK(create_parent(fixture, 32, &truncated_parent));
CHECK(lardon3d_project_db_load_match_result(fixture->state.project_db,
truncated_parent, &parent) ==
LARDON3D_PROJECT_DB_OK);
CHECK(join_path(full, fixture->root, parent.match_asset_path));
CHECK(truncate(full, LARDON3D_MATCH_FILE_HEADER_SIZE) == 0);
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, truncated_parent,
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_CORRUPT);
uint64_t index_parent = 0;
CHECK(create_parent(fixture, 32, &index_parent));
CHECK(lardon3d_project_db_load_match_result(fixture->state.project_db,
index_parent, &parent) ==
LARDON3D_PROJECT_DB_OK);
CHECK(join_path(full, fixture->root, parent.match_asset_path));
int descriptor = open(full, O_WRONLY | O_CLOEXEC);
CHECK(descriptor >= 0);
unsigned char invalid_index[4];
put_u32(invalid_index, LARDON3D_MATCH_FILE_MAX_MATCHES);
CHECK(pwrite(descriptor, invalid_index, sizeof(invalid_index),
LARDON3D_MATCH_FILE_HEADER_SIZE) ==
static_cast<ssize_t>(sizeof(invalid_index)));
CHECK(close(descriptor) == 0);
unsigned char corrupt_sha[32];
uint64_t corrupt_size = 0;
CHECK(sha256_file(full, corrupt_sha, &corrupt_size));
char corrupt_relative[LARDON3D_PROJECT_DB_PATH_CAPACITY];
(void)std::snprintf(corrupt_relative, sizeof(corrupt_relative), "%s",
parent.match_asset_path);
uint32_t corrupt_count = parent.match_count;
Lardon3DProjectDbMatchResult repaired;
CHECK(lardon3d_project_db_repair_match_result(
fixture->state.project_db, index_parent,
LARDON3D_MATCH_RESULT_STATUS_MATCHED, corrupt_count, corrupt_sha,
corrupt_relative, corrupt_size,
&repaired) == LARDON3D_PROJECT_DB_OK);
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, index_parent, &parameters,
&result, &reused) == LARDON3D_GEOMETRIC_VERIFIER_CORRUPT);
}
static void test_real_estimator_and_reopen(Fixture *fixture) {
uint64_t parent = 0;
CHECK(create_parent(fixture, 8192, &parent));
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
Lardon3DProjectDbGeometricVerificationResult result;
bool reused = false;
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, parent, &parameters,
&result, &reused) == LARDON3D_GEOMETRIC_VERIFIER_OK);
CHECK(!reused && result.status == LARDON3D_GEOMETRIC_VERIFIED &&
result.has_model &&
result.inlier_count >= parameters.min_inlier_count &&
result.inlier_mask_size == 1024);
Lardon3DProjectDbGeometricVerificationResult before_reopen = result;
uint64_t result_id = result.geometric_verification_result_id;
lardon3d_project_db_close(fixture->state.project_db);
fixture->state.project_db = nullptr;
char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
CHECK(lardon3d_project_db_open(fixture->database_path,
&fixture->state.project_db,
error) == LARDON3D_PROJECT_DB_OK);
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, parent, &parameters,
&result, &reused) == LARDON3D_GEOMETRIC_VERIFIER_OK);
CHECK(reused && result.geometric_verification_result_id == result_id &&
result.status == before_reopen.status &&
result.inlier_count == before_reopen.inlier_count &&
result.inlier_mask_size == before_reopen.inlier_mask_size &&
std::memcmp(result.inlier_mask, before_reopen.inlier_mask,
before_reopen.inlier_mask_size) == 0 &&
std::memcmp(result.model, before_reopen.model, sizeof(result.model)) ==
0);
}
static void test_feature_failures(Fixture *fixture) {
Lardon3DGeometricVerifierParameters parameters =
lardon3d_geometric_verifier_default_parameters();
Lardon3DProjectDbGeometricVerificationResult result;
bool reused = false;
uint64_t ownership_parent = 0;
CHECK(create_parent(fixture, 32, &ownership_parent));
char sql[256];
int length = std::snprintf(
sql, sizeof(sql),
"UPDATE match_results SET feature_set_id_a=%llu WHERE "
"match_result_id=%llu",
static_cast<unsigned long long>(fixture->set_b.feature_set_id),
static_cast<unsigned long long>(ownership_parent));
CHECK(length > 0 && length < static_cast<int>(sizeof(sql)) &&
execute_sql(fixture->database_path, sql));
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, ownership_parent,
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_CORRUPT);
uint64_t missing_asset_parent = 0;
CHECK(create_parent(fixture, 32, &missing_asset_parent));
char feature_path[PATH_MAX];
CHECK(join_path(feature_path, fixture->root, fixture->set_a.asset.path));
CHECK(unlink(feature_path) == 0);
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, missing_asset_parent,
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_CORRUPT);
uint64_t missing_set_parent = 0;
CHECK(create_parent(fixture, 32, &missing_set_parent));
length = std::snprintf(
sql, sizeof(sql),
"PRAGMA foreign_keys=OFF;DELETE FROM feature_sets "
"WHERE feature_set_id=%llu;PRAGMA foreign_keys=ON",
static_cast<unsigned long long>(fixture->set_a.feature_set_id));
CHECK(length > 0 && length < static_cast<int>(sizeof(sql)) &&
execute_sql(fixture->database_path, sql));
CHECK(lardon3d_geometric_verifier_verify_and_publish(
fixture->root, fixture->state.project_db, missing_set_parent,
&parameters, &result,
&reused) == LARDON3D_GEOMETRIC_VERIFIER_NOT_FOUND);
}
int main() {
test_parameters_and_fingerprint();
test_seed();
test_canonicalization();
Fixture fixture;
CHECK(fixture_create(&fixture));
if (fixture.state.project_db) {
test_e2e_and_reuse(&fixture);
test_scientific_boundaries(&fixture);
test_mask_boundaries(&fixture);
test_failures(&fixture);
test_parent_and_asset_failures(&fixture);
test_real_estimator_and_reopen(&fixture);
test_feature_failures(&fixture);
}
fixture_destroy(&fixture);
if (failures == 0)
std::puts("geometric verifier core unit tests: PASS");
return failures == 0 ? 0 : 1;
}
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