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lardon3d/tests/test_feature_task.c
fy59 599be97fbe feat(governor): freeze adaptive GPU-first orchestration 
Freeze Compute Governor v2 and asynchronous Vulkan Matcher execution.

Governor now owns production task admission and live resource adaptation,
with GPU-first AUTO selection for validated backends, CPU12 host capacity,
desktop CPU/RAM reserves, UMA accounting, pressure throttling, hysteresis,
and recovery.

Validate and freeze the rolling Vulkan ORB Matcher path, host topology
policy, task capability envelopes, runtime telemetry, restart/durability
contracts, portable CPU fallback, and scientific equivalence.

COMPUTE_GOVERNOR_V2=PASS/FROZEN
ORB_VULKAN_ASYNC_EXECUTION=PASS/FROZEN
MATCHER_GPU=EXISTING_BACKEND_VALIDATED_AND_PREFERRED
2026-08-30 22:17:51 +02:00

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#ifndef _GNU_SOURCE
#define _GNU_SOURCE
#endif
#include <dirent.h>
#include <errno.h>
#include <fcntl.h>
#include <math.h>
#include <pthread.h>
#include <sched.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/stat.h>
#include <time.h>
#include <unistd.h>
#include <lardon3d/feature_store.h>
#include <lardon3d/feature_task.h>
#include <lardon3d/visual_index.h>
#include <lardon3d/visual_index_task.h>
#include <lardon3d/image_catalog.h>
#include <lardon3d/project.h>
#include <lardon3d/precision_features.h>
#include <lardon3d/sift_task.h>
#include <lardon3d/task_checkpoint.h>
#include <lardon3d/task_queue.h>
#include "../src/opencv_task_thread_control.h"
#include "../src/resource_governor_internal.h"
#include "../src/task_internal.h"
#define CHECK(x) \
do { \
if (!(x)) { \
fprintf(stderr, "Échec ligne %d: %s\n", __LINE__, #x); \
return false; \
} \
} while (0)
static bool join_path(char out[PATH_MAX], const char *a, const char *b) {
int n = snprintf(out, PATH_MAX, "%s/%s", a, b);
return n > 0 && (size_t)n < PATH_MAX;
}
static bool remove_tree(const char *p) {
struct stat s;
if (lstat(p, &s) != 0) {
return errno == ENOENT;
}
if (!S_ISDIR(s.st_mode)) {
return unlink(p) == 0;
}
DIR *d = opendir(p);
if (!d) {
return false;
}
bool ok = true;
for (struct dirent *e = readdir(d); e; e = readdir(d)) {
if (!strcmp(e->d_name, ".") || !strcmp(e->d_name, "..")) {
continue;
}
char c[PATH_MAX];
if (!join_path(c, p, e->d_name) || !remove_tree(c)) {
ok = false;
}
}
if (closedir(d) || rmdir(p)) {
ok = false;
}
return ok;
}
static bool write_pgm(const char *p) {
FILE *f = fopen(p, "wb");
if (!f) {
return false;
}
fprintf(f, "P5\n192 192\n255\n");
for (unsigned y = 0; y < 192; y++) {
for (unsigned x = 0; x < 192; x++) {
unsigned base = ((((x / 12) ^ (y / 12)) & 1U) != 0U) ? 205U : 35U;
unsigned texture = (x * 17U + y * 29U + (x * y) % 37U) % 43U;
int dx = (int)x - 96;
int dy = (int)y - 96;
unsigned ring = (dx * dx + dy * dy > 32 * 32 && dx * dx + dy * dy < 42 * 42) ? 45U : 0U;
unsigned char v = (unsigned char)(base + texture + ring > 255U
? 255U
: base + texture + ring);
if (fwrite(&v, 1, 1, f) != 1) {
fclose(f);
return false;
}
}
}
return fclose(f) == 0;
}
static bool write_uniform_pgm(const char *path) {
FILE *file = fopen(path, "wb");
if (!file) return false;
bool ok = fprintf(file, "P5\n192 192\n255\n") > 0;
unsigned char row[192];
memset(row, 127, sizeof(row));
for (size_t y = 0; ok && y < 192; ++y) ok = fwrite(row, 1, sizeof(row), file) == sizeof(row);
return fclose(file) == 0 && ok;
}
static bool wait_state(Lardon3DTaskQueue *q, uint64_t id,
Lardon3DTaskState wanted,
Lardon3DTaskSnapshot *out);
static bool extracted_equal(const Lardon3DExtractedFeatures *left,
const Lardon3DExtractedFeatures *right) {
if (!left || !right || left->image_width != right->image_width ||
left->image_height != right->image_height ||
left->feature_count != right->feature_count ||
left->descriptor_bytes != right->descriptor_bytes ||
memcmp(&left->quality, &right->quality, sizeof(left->quality)) != 0 ||
(left->descriptor_bytes > 0 &&
memcmp(left->descriptors, right->descriptors,
left->descriptor_bytes) != 0)) {
return false;
}
for (uint32_t index = 0; index < left->feature_count; ++index) {
const Lardon3DFeatureKeypoint *a = &left->keypoints[index];
const Lardon3DFeatureKeypoint *b = &right->keypoints[index];
if (memcmp(&a->x, &b->x, sizeof(a->x)) != 0 ||
memcmp(&a->y, &b->y, sizeof(a->y)) != 0 ||
memcmp(&a->size, &b->size, sizeof(a->size)) != 0 ||
memcmp(&a->angle_degrees, &b->angle_degrees,
sizeof(a->angle_degrees)) != 0 ||
memcmp(&a->response, &b->response, sizeof(a->response)) != 0 ||
a->octave != b->octave) {
return false;
}
}
return true;
}
typedef enum {
TEST_EXTRACT_ORB = 0,
TEST_EXTRACT_SIFT = 1,
TEST_EXTRACT_ROOTSIFT = 2,
TEST_EXTRACT_COUNT = 3,
} TestExtractKind;
typedef struct {
const char *path;
unsigned int expected_threads;
TestExtractKind kind;
Lardon3DExtractedFeatures output;
} AdaptiveExtractWork;
static bool adaptive_extract_callback(Lardon3DTask *task, void *userdata) {
AdaptiveExtractWork *work = userdata;
Lardon3DOpenCvTaskThreadControl control;
if (!lardon3d_opencv_task_threads_begin(task, 12, &control) ||
lardon3d_feature_opencv_thread_count() != work->expected_threads) {
return false;
}
Lardon3DFeatureExtractResult result;
if (work->kind == TEST_EXTRACT_ORB) {
const Lardon3DFeatureExtractorParameters parameters = {512, 4, 10};
result = lardon3d_feature_extract_orb(work->path, &parameters,
&work->output);
} else {
Lardon3DSiftExtractorParameters parameters =
lardon3d_sift_precision_classic_v1(
work->kind == TEST_EXTRACT_ROOTSIFT);
parameters.max_features = 512;
result = lardon3d_feature_extract_sift(work->path, &parameters,
&work->output);
}
bool restored = lardon3d_opencv_task_threads_end(&control);
return result == LARDON3D_FEATURE_EXTRACT_OK && restored &&
lardon3d_task_set_progress(task, 100, "Extraction adaptative testée.");
}
static bool run_adaptive_output_equivalence(const char *path) {
cpu_set_t allowed_mask;
CPU_ZERO(&allowed_mask);
if (sched_getaffinity(0, sizeof(allowed_mask), &allowed_mask) != 0) {
return true;
}
unsigned int allowed_ids[LARDON3D_RESOURCE_CPU_MAX];
size_t allowed_count = 0;
for (unsigned int cpu = 0; cpu < CPU_SETSIZE &&
cpu < LARDON3D_RESOURCE_CPU_MAX; ++cpu) {
if (CPU_ISSET((size_t)cpu, &allowed_mask)) {
allowed_ids[allowed_count++] = cpu;
}
}
if (allowed_count == 0) return true;
const unsigned int requested[] = {1, 2, 4, 8, 12};
Lardon3DExtractedFeatures baseline[TEST_EXTRACT_COUNT] = {0};
bool have_baseline[TEST_EXTRACT_COUNT] = {false};
unsigned int previous_threads = lardon3d_feature_opencv_thread_count();
bool ok = true;
for (size_t request_index = 0;
request_index < sizeof(requested) / sizeof(requested[0]) && ok;
++request_index) {
unsigned int threads = requested[request_index];
if (threads > allowed_count) continue;
Lardon3DHardwareProfile profile = {
.logical_cpu_count = threads + 4,
.page_size_bytes = 4096,
.memory_total_bytes = UINT64_C(16) * 1024 * 1024 * 1024,
.cpu_architecture = "test",
};
Lardon3DResourcePolicy policy = {
.system_cpu_reserve = 4,
.maximum_cpu_load_ratio = 1.0,
.maximum_io_pressure_avg10 = 100.0,
.io_slot_capacity = 1,
};
Lardon3DResourceGovernor *governor =
lardon3d_resource_governor_create(&profile, &policy);
Lardon3DResourceCpuTopologyInput topology = {
.affinity_available = true,
.topology_available = false,
.allowed_cpu_count = threads,
};
for (unsigned int index = 0; index < threads; ++index) {
topology.allowed_cpu_ids[index] = allowed_ids[index];
}
Lardon3DTaskQueue *queue = NULL;
if (!governor ||
!lardon3d_resource_governor_internal_configure_cpu_topology(
governor, &topology) ||
!(queue = lardon3d_task_queue_create(governor, TEST_EXTRACT_COUNT))) {
lardon3d_task_queue_destroy(queue);
lardon3d_resource_governor_destroy(governor);
ok = false;
break;
}
AdaptiveExtractWork work[TEST_EXTRACT_COUNT] = {0};
uint64_t ids[TEST_EXTRACT_COUNT] = {0};
Lardon3DResourceEstimate estimate = {
.minimum_batch_size = 1,
.maximum_batch_size = 1,
.desired_cpu_threads = 12,
.task_class = LARDON3D_RESOURCE_TASK_CPU,
};
static const char *const task_kinds[TEST_EXTRACT_COUNT] = {
"features.extract",
"features.extract.sift",
"features.extract.rootsift",
};
for (size_t kind = 0; kind < TEST_EXTRACT_COUNT && ok; ++kind) {
work[kind] = (AdaptiveExtractWork) {
.path = path,
.expected_threads = threads,
.kind = (TestExtractKind)kind,
};
Lardon3DTask *task = lardon3d_task_create_typed(
"Extraction adaptative", &estimate, task_kinds[kind], 1,
adaptive_extract_callback, &work[kind], NULL);
Lardon3DTaskCapabilityEnvelope envelope = {
.count = 1,
.capabilities = {{
.estimate = estimate,
.backend = LARDON3D_RESOURCE_BACKEND_FIXED,
.inflight_limit = 1,
}},
};
envelope.capabilities[0].estimate.desired_cpu_threads = threads;
/* Scientific equality is tested at exact admitted counts independently
* of feedback timing; Governor progression/deadband has its own fully
* deterministic rate-injection regression. */
ok = task && lardon3d_task_internal_set_capability_envelope(
task, &envelope) && lardon3d_task_queue_add(queue, task, &ids[kind]);
if (!ok && task) lardon3d_task_destroy(task);
}
Lardon3DTaskSnapshot snapshot;
for (size_t kind = 0; kind < TEST_EXTRACT_COUNT && ok; ++kind) {
ok = wait_state(queue, ids[kind], TASK_COMPLETED, &snapshot);
if (!ok) break;
if (!have_baseline[kind]) {
baseline[kind] = work[kind].output;
work[kind].output = (Lardon3DExtractedFeatures) {0};
have_baseline[kind] = true;
} else {
ok = extracted_equal(&baseline[kind], &work[kind].output);
}
}
for (size_t kind = 0; kind < TEST_EXTRACT_COUNT; ++kind) {
lardon3d_extracted_features_destroy(&work[kind].output);
}
lardon3d_task_queue_destroy(queue);
lardon3d_resource_governor_destroy(governor);
}
for (size_t kind = 0; kind < TEST_EXTRACT_COUNT; ++kind) {
lardon3d_extracted_features_destroy(&baseline[kind]);
}
return lardon3d_feature_opencv_configure_threads(previous_threads) && ok;
}
static bool runtime(Lardon3DAppState *s) {
s->hardware_profile = (Lardon3DHardwareProfile){.logical_cpu_count = 64,
.page_size_bytes = 4096,
.memory_total_bytes = UINT64_MAX,
.cpu_architecture = "test"};
Lardon3DResourcePolicy p = {
.maximum_cpu_load_ratio = 1, .maximum_io_pressure_avg10 = 100, .io_slot_capacity = 2};
s->resource_governor = lardon3d_resource_governor_create(&s->hardware_profile, &p);
s->task_queue = s->resource_governor ? lardon3d_task_queue_create(s->resource_governor, 4) : NULL;
return s->task_queue != NULL;
}
static bool wait_state(Lardon3DTaskQueue *q, uint64_t id, Lardon3DTaskState wanted,
Lardon3DTaskSnapshot *out) {
struct timespec deadline;
if (clock_gettime(CLOCK_MONOTONIC, &deadline) != 0) return false;
/* The equality fixture deliberately executes ORB/SIFT/RootSIFT at five CPU
* contracts. Instrumented OpenCV is slower than the normal build; keep the
* wait bounded without mistaking sanitizer overhead for scientific drift. */
deadline.tv_sec += 30;
for (;;) {
if (lardon3d_task_queue_get(q, id, out) && out->state == wanted) {
return true;
}
struct timespec now;
if (clock_gettime(CLOCK_MONOTONIC, &now) != 0 || now.tv_sec > deadline.tv_sec ||
(now.tv_sec == deadline.tv_sec && now.tv_nsec >= deadline.tv_nsec)) {
return false;
}
sched_yield();
}
}
static bool last_sequence_is_no_work(Lardon3DAppState *state, const char *task_kind) {
Lardon3DResourceSequenceDiagnostic diagnostic;
return lardon3d_resource_governor_internal_last_diagnostic(
state->resource_governor, task_kind, 1, &diagnostic) &&
diagnostic.items_completed == 0 &&
diagnostic.durable_items_per_second_milli == 0 &&
diagnostic.cpu_threads == 1 &&
strcmp(diagnostic.reason, "throughput-no-work") == 0;
}
typedef struct {
Lardon3DAppState *state;
uint64_t orb_feature_set_id;
uint64_t sift_feature_set_id;
Lardon3DFeatureConsolidationParameters parameters;
Lardon3DProjectDbFeatureSupportSet support;
Lardon3DProjectDbResult result;
} ConsolidationThreadContext;
static void *consolidate_thread(void *userdata) {
ConsolidationThreadContext *context = userdata;
context->result = lardon3d_consolidate_orb_sift(
context->state, context->orb_feature_set_id, context->sift_feature_set_id,
&context->parameters, &context->support);
return NULL;
}
static bool run_test(void) {
char root[] = "/tmp/lardon3d-feature-task-XXXXXX";
CHECK(mkdtemp(root) && setenv("LARDON3D_PROJECTS_ROOT", root, 1) == 0);
char source[PATH_MAX];
CHECK(join_path(source, root, "source.pgm") && write_pgm(source));
CHECK(run_adaptive_output_equivalence(source));
Lardon3DAppState state;
lardon3d_app_state_init(&state);
CHECK(runtime(&state) && lardon3d_project_create(&state, "Features"));
CHECK(lardon3d_feature_opencv_configure_threads(3));
Lardon3DProjectDbScanSet scanset;
CHECK(lardon3d_image_catalog_create_scanset(&state, "A", &scanset));
Lardon3DProjectDbImage image;
Lardon3DProjectDbImageAsset asset;
CHECK(lardon3d_image_catalog_import_file(&state, scanset.scanset_id, source, 0, &image, &asset) ==
LARDON3D_IMAGE_CATALOG_IMPORTED);
Lardon3DFeatureExtractorParameters parameters = {512, 4, 10};
CHECK(setenv("LARDON3D_TEST_FEATURE_PAUSE_BEFORE_PUBLISH", "1", 1) == 0 &&
setenv("LARDON3D_TEST_FEATURE_SKIP_FINISHED_CHECKPOINT", "1", 1) == 0);
uint64_t task_id = 0;
CHECK(lardon3d_project_enqueue_feature_extract(&state, image.image_id, &parameters, &task_id));
Lardon3DTaskSnapshot snapshot;
CHECK(wait_state(state.task_queue, task_id, TASK_PAUSED, &snapshot));
lardon3d_task_queue_destroy(state.task_queue);
state.task_queue = NULL;
CHECK(lardon3d_feature_opencv_thread_count() == 3);
lardon3d_project_close(&state);
lardon3d_resource_governor_destroy(state.resource_governor);
state.resource_governor = NULL;
CHECK(unsetenv("LARDON3D_TEST_FEATURE_PAUSE_BEFORE_PUBLISH") == 0 &&
unsetenv("LARDON3D_TEST_FEATURE_SKIP_FINISHED_CHECKPOINT") == 0);
lardon3d_app_state_init(&state);
CHECK(runtime(&state) && lardon3d_project_open(&state, "Features"));
CHECK(lardon3d_feature_opencv_configure_threads(3));
Lardon3DProjectRecoverySummary summary;
CHECK(lardon3d_project_last_recovery_summary(&state, &summary) && summary.resumed == 1);
CHECK(wait_state(state.task_queue, task_id, TASK_COMPLETED, &snapshot) &&
snapshot.progress == 100);
CHECK(lardon3d_feature_opencv_thread_count() == 3);
unsigned char fp[32];
lardon3d_feature_extractor_parameter_fingerprint(&parameters, fp);
Lardon3DProjectDbFeatureSet set;
CHECK(lardon3d_project_db_find_feature_set(state.project_db, image.image_id,
LARDON3D_FEATURE_EXTRACTOR_KIND, 1, fp,
&set) == LARDON3D_PROJECT_DB_OK);
lardon3d_task_queue_destroy(state.task_queue);
state.task_queue = NULL;
lardon3d_project_close(&state);
lardon3d_resource_governor_destroy(state.resource_governor);
state.resource_governor = NULL;
lardon3d_app_state_init(&state);
CHECK(runtime(&state) && lardon3d_project_open(&state, "Features"));
CHECK(lardon3d_project_last_recovery_summary(&state, &summary) && summary.resumed == 0);
CHECK(lardon3d_project_db_load_feature_set(state.project_db, set.feature_set_id, &set) ==
LARDON3D_PROJECT_DB_OK);
CHECK(unlink(source) == 0);
Lardon3DFeatureReader *reader = NULL;
Lardon3DFeatureFileMetadata metadata;
CHECK(lardon3d_feature_reader_open(state.project_path, &set, &reader, &metadata) ==
LARDON3D_FEATURE_STORE_OK);
lardon3d_feature_reader_close(reader);
uint64_t duplicate_orb_task = 0;
CHECK(lardon3d_project_enqueue_feature_extract(
&state, image.image_id, &parameters, &duplicate_orb_task) &&
wait_state(state.task_queue, duplicate_orb_task, TASK_COMPLETED, &snapshot) &&
last_sequence_is_no_work(&state, LARDON3D_FEATURE_EXTRACT_TASK_KIND));
/* The asset and DB row are visible, but forced directory-sync uncertainty
* means this extraction is not durable throughput evidence. */
Lardon3DFeatureExtractorParameters nondurable_orb_parameters = {508, 4, 10};
uint64_t nondurable_orb_task = 0;
CHECK(setenv("LARDON3D_TEST_FEATURE_FAIL_DIRECTORY_SYNC", "1", 1) == 0 &&
lardon3d_project_enqueue_feature_extract(
&state, image.image_id, &nondurable_orb_parameters,
&nondurable_orb_task) &&
wait_state(state.task_queue, nondurable_orb_task, TASK_COMPLETED, &snapshot) &&
last_sequence_is_no_work(&state, LARDON3D_FEATURE_EXTRACT_TASK_KIND) &&
unsetenv("LARDON3D_TEST_FEATURE_FAIL_DIRECTORY_SYNC") == 0);
uint64_t post_no_work_orb_task = 0;
CHECK(lardon3d_project_enqueue_feature_extract(
&state, image.image_id, &parameters, &post_no_work_orb_task) &&
wait_state(state.task_queue, post_no_work_orb_task, TASK_COMPLETED,
&snapshot) &&
last_sequence_is_no_work(&state, LARDON3D_FEATURE_EXTRACT_TASK_KIND));
/* Configuration failure is injected after OpenCV mutates its process-wide
* pool. Feature, SIFT, and RootSIFT must each restore the captured value. */
CHECK(lardon3d_feature_opencv_configure_threads(3));
CHECK(setenv("LARDON3D_TEST_OPENCV_CONFIGURE_FAILURE_THREADS", "1", 1) == 0);
Lardon3DFeatureExtractorParameters failed_orb_parameters = {509, 4, 10};
uint64_t failed_orb_task = 0;
CHECK(lardon3d_project_enqueue_feature_extract(
&state, image.image_id, &failed_orb_parameters, &failed_orb_task) &&
wait_state(state.task_queue, failed_orb_task, TASK_FAILED, &snapshot) &&
lardon3d_feature_opencv_thread_count() == 3);
Lardon3DSiftExtractorParameters failed_sift_parameters =
lardon3d_sift_precision_classic_v1(false);
failed_sift_parameters.max_features = 511;
uint64_t failed_sift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(
&state, image.image_id, &failed_sift_parameters,
&failed_sift_task) &&
wait_state(state.task_queue, failed_sift_task, TASK_FAILED, &snapshot) &&
lardon3d_feature_opencv_thread_count() == 3);
failed_sift_parameters.rootsift = true;
failed_sift_parameters.max_features = 510;
uint64_t failed_rootsift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(
&state, image.image_id, &failed_sift_parameters,
&failed_rootsift_task) &&
wait_state(state.task_queue, failed_rootsift_task, TASK_FAILED, &snapshot) &&
lardon3d_feature_opencv_thread_count() == 3 &&
unsetenv("LARDON3D_TEST_OPENCV_CONFIGURE_FAILURE_THREADS") == 0);
Lardon3DSiftExtractorParameters sift_parameters = lardon3d_sift_precision_classic_v1(false);
sift_parameters.max_features = 512;
uint64_t sift_task_id = 0, concurrent_identical_sift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, image.image_id, &sift_parameters,
&sift_task_id) &&
lardon3d_project_enqueue_sift_extract(&state, image.image_id, &sift_parameters,
&concurrent_identical_sift_task));
CHECK(sift_task_id != concurrent_identical_sift_task &&
wait_state(state.task_queue, sift_task_id, TASK_COMPLETED, &snapshot) &&
wait_state(state.task_queue, concurrent_identical_sift_task, TASK_COMPLETED, &snapshot) &&
last_sequence_is_no_work(&state, LARDON3D_SIFT_EXTRACT_TASK_KIND));
unsigned char sift_fingerprint[32];
lardon3d_sift_extractor_parameter_fingerprint(&sift_parameters, sift_fingerprint);
unsigned char same_sift_fingerprint[32], changed_sift_fingerprint[32];
Lardon3DSiftExtractorParameters changed_sift_parameters = sift_parameters;
changed_sift_parameters.sigma = 1.7;
lardon3d_sift_extractor_parameter_fingerprint(&sift_parameters, same_sift_fingerprint);
lardon3d_sift_extractor_parameter_fingerprint(&changed_sift_parameters,
changed_sift_fingerprint);
CHECK(memcmp(sift_fingerprint, same_sift_fingerprint, 32) == 0 &&
memcmp(sift_fingerprint, changed_sift_fingerprint, 32) != 0);
Lardon3DSiftExtractorParameters fingerprint_variants[8];
for (size_t variant = 0; variant < 8; ++variant)
fingerprint_variants[variant] = sift_parameters;
fingerprint_variants[0].max_features--;
fingerprint_variants[1].octave_layers++;
fingerprint_variants[2].contrast_threshold += 0.001;
fingerprint_variants[3].edge_threshold += 1.0;
fingerprint_variants[4].grid_rows--;
fingerprint_variants[5].grid_cols--;
fingerprint_variants[6].max_features_per_cell--;
fingerprint_variants[7].rootsift = true;
for (size_t variant = 0; variant < 8; ++variant) {
lardon3d_sift_extractor_parameter_fingerprint(&fingerprint_variants[variant],
changed_sift_fingerprint);
CHECK(memcmp(sift_fingerprint, changed_sift_fingerprint, 32) != 0);
}
Lardon3DProjectDbFeatureSet sift_set;
CHECK(lardon3d_project_db_find_feature_set(state.project_db, image.image_id, "sift", 1,
sift_fingerprint, &sift_set) ==
LARDON3D_PROJECT_DB_OK &&
sift_set.total_cells == 64 && sift_set.occupied_cells > 0 &&
sift_set.coverage_ratio > 0.0 && sift_set.coverage_ratio <= 1.0 &&
sift_set.feature_density_per_megapixel > 0.0);
Lardon3DVisualIndexConfiguration incompatible_index_configuration = {1, 256, 128};
uint64_t incompatible_visual_index = 0;
CHECK(lardon3d_visual_index_create(state.project_db, &sift_set,
&incompatible_index_configuration,
&incompatible_visual_index) ==
LARDON3D_VISUAL_INDEX_INVALID_ARGUMENT &&
incompatible_visual_index == 0);
CHECK(lardon3d_feature_reader_open(state.project_path, &sift_set, &reader, &metadata) ==
LARDON3D_FEATURE_STORE_OK &&
metadata.format_version == 2 && metadata.descriptor_dimension == 128 &&
metadata.descriptor_type == LARDON3D_FEATURE_DESCRIPTOR_F32);
float sift_descriptors[128];
if (metadata.feature_count > 0) {
CHECK(lardon3d_feature_reader_descriptors_f32(reader, 0, sift_descriptors, 1,
sizeof(sift_descriptors)) ==
LARDON3D_FEATURE_STORE_OK);
}
lardon3d_feature_reader_close(reader);
uint64_t duplicate_sift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, image.image_id, &sift_parameters,
&duplicate_sift_task));
CHECK(wait_state(state.task_queue, duplicate_sift_task, TASK_COMPLETED, &snapshot));
Lardon3DProjectDbFeatureSet duplicate_sift_set;
CHECK(lardon3d_project_db_find_feature_set(state.project_db, image.image_id, "sift", 1,
sift_fingerprint, &duplicate_sift_set) ==
LARDON3D_PROJECT_DB_OK &&
duplicate_sift_set.feature_set_id == sift_set.feature_set_id);
Lardon3DSiftExtractorParameters rootsift_parameters = sift_parameters;
rootsift_parameters.rootsift = true;
uint64_t rootsift_task_id = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, image.image_id, &rootsift_parameters,
&rootsift_task_id));
CHECK(wait_state(state.task_queue, rootsift_task_id, TASK_COMPLETED, &snapshot));
unsigned char rootsift_fingerprint[32];
lardon3d_sift_extractor_parameter_fingerprint(&rootsift_parameters, rootsift_fingerprint);
Lardon3DProjectDbFeatureSet rootsift_set;
CHECK(lardon3d_project_db_find_feature_set(state.project_db, image.image_id, "rootsift", 1,
rootsift_fingerprint, &rootsift_set) ==
LARDON3D_PROJECT_DB_OK &&
rootsift_set.feature_set_id != sift_set.feature_set_id);
uint64_t duplicate_rootsift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(
&state, image.image_id, &rootsift_parameters,
&duplicate_rootsift_task) &&
wait_state(state.task_queue, duplicate_rootsift_task, TASK_COMPLETED, &snapshot) &&
last_sequence_is_no_work(&state, LARDON3D_ROOTSIFT_EXTRACT_TASK_KIND));
Lardon3DSiftExtractorParameters nondurable_sift_parameters = sift_parameters;
nondurable_sift_parameters.max_features = 508;
uint64_t nondurable_sift_task = 0;
CHECK(setenv("LARDON3D_TEST_FEATURE_FAIL_DIRECTORY_SYNC", "1", 1) == 0 &&
lardon3d_project_enqueue_sift_extract(
&state, image.image_id, &nondurable_sift_parameters,
&nondurable_sift_task) &&
wait_state(state.task_queue, nondurable_sift_task, TASK_COMPLETED, &snapshot) &&
last_sequence_is_no_work(&state, LARDON3D_SIFT_EXTRACT_TASK_KIND));
nondurable_sift_parameters.rootsift = true;
nondurable_sift_parameters.max_features = 509;
uint64_t nondurable_rootsift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(
&state, image.image_id, &nondurable_sift_parameters,
&nondurable_rootsift_task) &&
wait_state(state.task_queue, nondurable_rootsift_task, TASK_COMPLETED, &snapshot) &&
last_sequence_is_no_work(&state, LARDON3D_ROOTSIFT_EXTRACT_TASK_KIND) &&
unsetenv("LARDON3D_TEST_FEATURE_FAIL_DIRECTORY_SYNC") == 0);
/* SIFT and RootSIFT CPU1 checkpoints are exact historical operational
* signatures. Recovery uses CPU12 in memory without publishing an
* estimate-only checkpoint; a neighboring CPU2 shape is corruption. */
const uint64_t precision_task_ids[2] = {sift_task_id, rootsift_task_id};
const char *precision_kinds[2] = {LARDON3D_SIFT_EXTRACT_TASK_KIND,
LARDON3D_ROOTSIFT_EXTRACT_TASK_KIND};
Lardon3DTaskReconstructionContext precision_reconstruction = {
.project_path = state.project_path,
.project_db = state.project_db,
.resource_governor = state.resource_governor,
.orb_vulkan_backend = state.orb_vulkan_backend,
};
for (size_t precision_index = 0; precision_index < 2; ++precision_index) {
char precision_checkpoint[PATH_MAX];
char precision_staged[PATH_MAX];
CHECK(snprintf(precision_checkpoint, sizeof(precision_checkpoint),
"%s/.lardon3d/checkpoints/%lu.chk", state.project_path,
(unsigned long)precision_task_ids[precision_index]) > 0 &&
snprintf(precision_staged, sizeof(precision_staged), "%s.next",
precision_checkpoint) > 0);
Lardon3DTaskDurableSnapshot current_precision;
CHECK(lardon3d_task_checkpoint_load(precision_checkpoint,
&current_precision, NULL) ==
LARDON3D_TASK_CHECKPOINT_OK);
Lardon3DTaskDurableSnapshot historical_precision = current_precision;
historical_precision.estimate.desired_cpu_threads = 1;
historical_precision.progress = 50;
historical_precision.saved_state = TASK_RUNNING;
historical_precision.recovery_state = TASK_PENDING;
historical_precision.finished_at = (struct timespec){0};
CHECK(lardon3d_task_checkpoint_save(precision_checkpoint,
&historical_precision) ==
LARDON3D_TASK_CHECKPOINT_OK);
Lardon3DTask *restored_precision = NULL;
Lardon3DTaskKindResult precision_restore =
lardon3d_task_kind_registry_restore(
lardon3d_task_kind_registry_production(),
precision_kinds[precision_index],
LARDON3D_SIFT_EXTRACT_TASK_KIND_VERSION,
&historical_precision, &precision_reconstruction,
&restored_precision);
if (precision_restore != LARDON3D_TASK_KIND_OK) {
fprintf(stderr, "precision restore %zu failed: %d\n", precision_index,
(int)precision_restore);
}
CHECK(precision_restore == LARDON3D_TASK_KIND_OK &&
restored_precision);
Lardon3DResourceEstimate effective_precision;
CHECK(lardon3d_task_resource_estimate(restored_precision,
&effective_precision) &&
effective_precision.desired_cpu_threads == 12);
lardon3d_task_destroy(restored_precision);
Lardon3DTaskDurableSnapshot durable_precision;
CHECK(lardon3d_task_checkpoint_load(precision_checkpoint,
&durable_precision, NULL) ==
LARDON3D_TASK_CHECKPOINT_OK &&
durable_precision.estimate.desired_cpu_threads == 1 &&
access(precision_staged, F_OK) != 0 && errno == ENOENT);
Lardon3DTaskDurableSnapshot malformed_precision = historical_precision;
malformed_precision.estimate.desired_cpu_threads = 2;
restored_precision = NULL;
CHECK(lardon3d_task_kind_registry_restore(
lardon3d_task_kind_registry_production(),
precision_kinds[precision_index],
LARDON3D_SIFT_EXTRACT_TASK_KIND_VERSION,
&malformed_precision, &precision_reconstruction,
&restored_precision) ==
LARDON3D_TASK_KIND_RECONSTRUCTION_FAILED &&
restored_precision == NULL);
}
CHECK(lardon3d_feature_reader_open(state.project_path, &rootsift_set, &reader, &metadata) ==
LARDON3D_FEATURE_STORE_OK);
if (metadata.feature_count > 0) {
float root_descriptor[128];
CHECK(lardon3d_feature_reader_descriptors_f32(reader, 0, root_descriptor, 1,
sizeof(root_descriptor)) ==
LARDON3D_FEATURE_STORE_OK);
double squared_norm = 0.0;
for (size_t dimension = 0; dimension < 128; ++dimension) {
CHECK(isfinite(root_descriptor[dimension]) && root_descriptor[dimension] >= 0.0F);
squared_norm += (double)root_descriptor[dimension] * root_descriptor[dimension];
}
CHECK(squared_norm == 0.0 || (squared_norm > 0.999 && squared_norm < 1.001));
}
lardon3d_feature_reader_close(reader);
Lardon3DFeatureConsolidationParameters support_parameters =
lardon3d_feature_consolidation_v1();
ConsolidationThreadContext support_contexts[2] = {
{.state = &state,
.orb_feature_set_id = set.feature_set_id,
.sift_feature_set_id = sift_set.feature_set_id,
.parameters = support_parameters},
{.state = &state,
.orb_feature_set_id = set.feature_set_id,
.sift_feature_set_id = sift_set.feature_set_id,
.parameters = support_parameters}};
pthread_t support_threads[2];
CHECK(pthread_create(&support_threads[0], NULL, consolidate_thread, &support_contexts[0]) == 0 &&
pthread_create(&support_threads[1], NULL, consolidate_thread, &support_contexts[1]) == 0 &&
pthread_join(support_threads[0], NULL) == 0 && pthread_join(support_threads[1], NULL) == 0);
Lardon3DProjectDbFeatureSupportSet support = support_contexts[0].support;
CHECK(support_contexts[0].result == LARDON3D_PROJECT_DB_OK &&
support_contexts[1].result == LARDON3D_PROJECT_DB_OK && support.group_count > 0 &&
support.group_count <= set.feature_count + sift_set.feature_count &&
support_contexts[1].support.feature_support_set_id == support.feature_support_set_id &&
support_contexts[1].support.group_count == support.group_count);
Lardon3DProjectDbFeatureSupportGroup support_page[256];
uint64_t after_support_group = 0;
uint32_t listed_support_groups = 0;
bool has_confirmed_support = false;
do {
size_t support_page_count = 0;
CHECK(lardon3d_project_db_list_feature_support_groups(
state.project_db, support.feature_support_set_id, after_support_group,
support_page, 256, &support_page_count) == LARDON3D_PROJECT_DB_OK);
if (support_page_count == 0) break;
for (size_t group = 0; group < support_page_count; ++group) {
CHECK(support_page[group].feature_support_set_id == support.feature_support_set_id &&
support_page[group].feature_support_group_id > after_support_group &&
support_page[group].support_count >= 1 && support_page[group].support_count <= 2 &&
support_page[group].distance_pixels >= 0.0 &&
support_page[group].distance_pixels <= support_parameters.association_radius_pixels);
has_confirmed_support |= support_page[group].support_count == 2;
after_support_group = support_page[group].feature_support_group_id;
}
listed_support_groups += (uint32_t)support_page_count;
} while (listed_support_groups < support.group_count);
CHECK(listed_support_groups == support.group_count && has_confirmed_support);
Lardon3DProjectDbFeatureSupportGroup isolated_rank = {.feature_support_group_id = 1,
.support_count = 1};
Lardon3DProjectDbFeatureSupportGroup confirmed_rank = {.feature_support_group_id = 2,
.support_count = 2};
CHECK(lardon3d_feature_support_higher_quality(&confirmed_rank, &isolated_rank) &&
!lardon3d_feature_support_higher_quality(&isolated_rank, &confirmed_rank));
Lardon3DSiftExtractorParameters cancelled_parameters = sift_parameters;
cancelled_parameters.max_features = 499;
unsigned char cancelled_fingerprint[32];
lardon3d_sift_extractor_parameter_fingerprint(&cancelled_parameters, cancelled_fingerprint);
CHECK(setenv("LARDON3D_TEST_SIFT_PAUSE_BEFORE_PUBLISH", "1", 1) == 0);
uint64_t cancelled_sift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, image.image_id, &cancelled_parameters,
&cancelled_sift_task) &&
wait_state(state.task_queue, cancelled_sift_task, TASK_PAUSED, &snapshot) &&
lardon3d_task_queue_cancel(state.task_queue, cancelled_sift_task) &&
wait_state(state.task_queue, cancelled_sift_task, TASK_CANCELLED, &snapshot) &&
unsetenv("LARDON3D_TEST_SIFT_PAUSE_BEFORE_PUBLISH") == 0);
Lardon3DProjectDbFeatureSet cancelled_set;
CHECK(lardon3d_project_db_find_feature_set(state.project_db, image.image_id, "sift", 1,
cancelled_fingerprint, &cancelled_set) ==
LARDON3D_PROJECT_DB_NOT_FOUND);
char uniform_source[PATH_MAX];
CHECK(join_path(uniform_source, root, "uniform.pgm") && write_uniform_pgm(uniform_source));
Lardon3DProjectDbImage uniform_image;
Lardon3DProjectDbImageAsset uniform_asset;
CHECK(lardon3d_image_catalog_import_file(&state, scanset.scanset_id, uniform_source, 0,
&uniform_image, &uniform_asset) ==
LARDON3D_IMAGE_CATALOG_IMPORTED);
uint64_t uniform_sift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, uniform_image.image_id, &sift_parameters,
&uniform_sift_task) &&
wait_state(state.task_queue, uniform_sift_task, TASK_COMPLETED, &snapshot));
Lardon3DProjectDbFeatureSet uniform_sift_set;
CHECK(lardon3d_project_db_find_feature_set(state.project_db, uniform_image.image_id, "sift", 1,
sift_fingerprint, &uniform_sift_set) ==
LARDON3D_PROJECT_DB_OK &&
uniform_sift_set.feature_count == 0 && unlink(uniform_source) == 0);
Lardon3DSiftExtractorParameters recovery_parameters = sift_parameters;
recovery_parameters.max_features = 500;
CHECK(setenv("LARDON3D_TEST_SIFT_PAUSE_BEFORE_PUBLISH", "1", 1) == 0 &&
setenv("LARDON3D_TEST_SIFT_SKIP_FINISHED_CHECKPOINT", "1", 1) == 0);
uint64_t recovery_sift_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, image.image_id, &recovery_parameters,
&recovery_sift_task));
CHECK(wait_state(state.task_queue, recovery_sift_task, TASK_PAUSED, &snapshot));
lardon3d_task_queue_destroy(state.task_queue);
state.task_queue = NULL;
lardon3d_project_close(&state);
lardon3d_resource_governor_destroy(state.resource_governor);
state.resource_governor = NULL;
CHECK(unsetenv("LARDON3D_TEST_SIFT_PAUSE_BEFORE_PUBLISH") == 0 &&
unsetenv("LARDON3D_TEST_SIFT_SKIP_FINISHED_CHECKPOINT") == 0);
lardon3d_app_state_init(&state);
CHECK(runtime(&state) && lardon3d_project_open(&state, "Features"));
CHECK(lardon3d_project_last_recovery_summary(&state, &summary) && summary.resumed == 1);
CHECK(wait_state(state.task_queue, recovery_sift_task, TASK_COMPLETED, &snapshot));
unsigned char recovery_fingerprint[32];
lardon3d_sift_extractor_parameter_fingerprint(&recovery_parameters, recovery_fingerprint);
Lardon3DProjectDbFeatureSet recovered_sift;
CHECK(lardon3d_project_db_find_feature_set(state.project_db, image.image_id, "sift", 1,
recovery_fingerprint, &recovered_sift) ==
LARDON3D_PROJECT_DB_OK);
char second_source[PATH_MAX];
CHECK(join_path(second_source, root, "second-source.pgm") && write_pgm(second_source));
FILE *second_file = fopen(second_source, "ab");
CHECK(second_file && fwrite("x", 1, 1, second_file) == 1 && fclose(second_file) == 0);
Lardon3DProjectDbImage second_image;
Lardon3DProjectDbImageAsset second_asset;
CHECK(lardon3d_image_catalog_import_file(&state, scanset.scanset_id, second_source, 0,
&second_image, &second_asset) ==
LARDON3D_IMAGE_CATALOG_IMPORTED &&
second_image.image_id != image.image_id);
Lardon3DSiftExtractorParameters first_parallel = sift_parameters;
Lardon3DSiftExtractorParameters second_parallel = sift_parameters;
first_parallel.max_features = 496;
second_parallel.max_features = 497;
uint64_t first_parallel_task = 0, second_parallel_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, image.image_id, &first_parallel,
&first_parallel_task) &&
lardon3d_project_enqueue_sift_extract(&state, second_image.image_id, &second_parallel,
&second_parallel_task) &&
wait_state(state.task_queue, first_parallel_task, TASK_COMPLETED, &snapshot) &&
wait_state(state.task_queue, second_parallel_task, TASK_COMPLETED, &snapshot));
unsigned char second_parallel_fingerprint[32];
lardon3d_sift_extractor_parameter_fingerprint(&second_parallel,
second_parallel_fingerprint);
Lardon3DProjectDbFeatureSet second_sift;
CHECK(lardon3d_project_db_find_feature_set(state.project_db, second_image.image_id, "sift", 1,
second_parallel_fingerprint, &second_sift) ==
LARDON3D_PROJECT_DB_OK &&
unlink(second_source) == 0 &&
lardon3d_feature_reader_open(state.project_path, &second_sift, &reader, &metadata) ==
LARDON3D_FEATURE_STORE_OK);
lardon3d_feature_reader_close(reader);
Lardon3DVisualIndexConfiguration index_configuration = {1, 256, 128};
Lardon3DVisualIndexConfiguration nondurable_index_configuration = {1, 255, 128};
uint64_t nondurable_visual_index_id = 0;
uint64_t nondurable_visual_task_id = 0;
CHECK(lardon3d_visual_index_create(
state.project_db, &set, &nondurable_index_configuration,
&nondurable_visual_index_id) == LARDON3D_VISUAL_INDEX_OK);
CHECK(setenv("LARDON3D_TEST_VISUAL_INDEX_FAIL_DIR_FSYNC", "1", 1) == 0 &&
setenv("LARDON3D_TEST_VISUAL_INDEX_PAUSE_AFTER_SEGMENT", "1", 1) == 0);
CHECK(lardon3d_project_enqueue_visual_index_update(
&state, nondurable_visual_index_id, &nondurable_visual_task_id));
CHECK(wait_state(state.task_queue, nondurable_visual_task_id, TASK_PAUSED,
&snapshot));
CHECK(last_sequence_is_no_work(
&state, LARDON3D_VISUAL_INDEX_UPDATE_TASK_KIND));
CHECK(unsetenv("LARDON3D_TEST_VISUAL_INDEX_FAIL_DIR_FSYNC") == 0 &&
unsetenv("LARDON3D_TEST_VISUAL_INDEX_PAUSE_AFTER_SEGMENT") == 0 &&
lardon3d_task_queue_resume(
state.task_queue, nondurable_visual_task_id) &&
wait_state(state.task_queue, nondurable_visual_task_id, TASK_COMPLETED,
&snapshot));
uint64_t visual_index_id = 0;
CHECK(lardon3d_visual_index_create(state.project_db, &set, &index_configuration,
&visual_index_id) == LARDON3D_VISUAL_INDEX_OK);
CHECK(setenv("LARDON3D_TEST_VISUAL_INDEX_PAUSE_AFTER_SEGMENT", "1", 1) == 0 &&
setenv("LARDON3D_TEST_VISUAL_INDEX_SKIP_FINISHED_CHECKPOINT", "1", 1) == 0);
uint64_t visual_task_id = 0;
CHECK(lardon3d_project_enqueue_visual_index_update(&state, visual_index_id, &visual_task_id));
CHECK(wait_state(state.task_queue, visual_task_id, TASK_PAUSED, &snapshot));
lardon3d_task_queue_destroy(state.task_queue);
state.task_queue = NULL;
lardon3d_project_close(&state);
lardon3d_resource_governor_destroy(state.resource_governor);
state.resource_governor = NULL;
CHECK(unsetenv("LARDON3D_TEST_VISUAL_INDEX_PAUSE_AFTER_SEGMENT") == 0 &&
unsetenv("LARDON3D_TEST_VISUAL_INDEX_SKIP_FINISHED_CHECKPOINT") == 0);
lardon3d_app_state_init(&state);
CHECK(runtime(&state) && lardon3d_project_open(&state, "Features"));
CHECK(lardon3d_project_last_recovery_summary(&state, &summary) && summary.resumed == 1);
CHECK(wait_state(state.task_queue, visual_task_id, TASK_COMPLETED, &snapshot));
Lardon3DProjectDbVisualIndexSegment visual_segments[2];
size_t visual_segment_count = 0;
CHECK(lardon3d_project_db_list_visual_index_segments(
state.project_db, visual_index_id, 0, visual_segments, 2, &visual_segment_count) ==
LARDON3D_PROJECT_DB_OK &&
visual_segment_count == 1);
CHECK(lardon3d_project_db_load_feature_set(state.project_db, second_sift.feature_set_id,
&second_sift) == LARDON3D_PROJECT_DB_OK &&
lardon3d_feature_reader_open(state.project_path, &second_sift, &reader, &metadata) ==
LARDON3D_FEATURE_STORE_OK);
lardon3d_feature_reader_close(reader);
char second_managed_path[PATH_MAX];
CHECK(join_path(second_managed_path, state.project_path, second_asset.path));
int second_managed_fd = open(second_managed_path, O_WRONLY | O_CLOEXEC);
unsigned char corrupt_byte = 0;
CHECK(second_managed_fd >= 0 && pwrite(second_managed_fd, &corrupt_byte, 1, 32) == 1 &&
close(second_managed_fd) == 0);
Lardon3DSiftExtractorParameters corrupt_source_parameters = sift_parameters;
corrupt_source_parameters.max_features = 498;
uint64_t corrupt_source_task = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, second_image.image_id,
&corrupt_source_parameters,
&corrupt_source_task) &&
wait_state(state.task_queue, corrupt_source_task, TASK_FAILED, &snapshot) &&
lardon3d_feature_reader_open(state.project_path, &second_sift, &reader, &metadata) ==
LARDON3D_FEATURE_STORE_OK);
lardon3d_feature_reader_close(reader);
CHECK(write_pgm(source));
Lardon3DProjectDbImage missing_image;
Lardon3DProjectDbImageAsset missing_asset;
CHECK(lardon3d_image_catalog_import_file(&state, scanset.scanset_id, source, 0, &missing_image,
&missing_asset) ==
LARDON3D_IMAGE_CATALOG_ALREADY_PRESENT);
char managed_path[PATH_MAX];
CHECK(join_path(managed_path, state.project_path, missing_asset.path));
CHECK(unlink(managed_path) == 0);
uint64_t missing_task_id = 0;
Lardon3DFeatureExtractorParameters missing_parameters = {511, 4, 10};
CHECK(lardon3d_project_enqueue_feature_extract(&state, missing_image.image_id,
&missing_parameters, &missing_task_id));
CHECK(wait_state(state.task_queue, missing_task_id, TASK_FAILED, &snapshot));
char invalid_source[PATH_MAX];
CHECK(join_path(invalid_source, root, "invalid.pgm"));
FILE *invalid = fopen(invalid_source, "wb");
CHECK(invalid && fwrite("not an image", 1, 12, invalid) == 12 && fclose(invalid) == 0);
Lardon3DProjectDbImage invalid_image;
Lardon3DProjectDbImageAsset invalid_asset;
CHECK(lardon3d_image_catalog_import_file(&state, scanset.scanset_id, invalid_source, 0,
&invalid_image,
&invalid_asset) == LARDON3D_IMAGE_CATALOG_IMPORTED);
uint64_t invalid_task_id = 0;
Lardon3DFeatureExtractorParameters invalid_parameters = {510, 4, 10};
CHECK(lardon3d_project_enqueue_feature_extract(&state, invalid_image.image_id,
&invalid_parameters, &invalid_task_id));
CHECK(wait_state(state.task_queue, invalid_task_id, TASK_FAILED, &snapshot));
uint64_t invalid_sift_task_id = 0;
CHECK(lardon3d_project_enqueue_sift_extract(&state, invalid_image.image_id, &sift_parameters,
&invalid_sift_task_id) &&
wait_state(state.task_queue, invalid_sift_task_id, TASK_FAILED, &snapshot));
lardon3d_task_queue_destroy(state.task_queue);
state.task_queue = NULL;
lardon3d_project_close(&state);
lardon3d_resource_governor_destroy(state.resource_governor);
CHECK(remove_tree(root));
return true;
}
int main(void) { return run_test() ? 0 : 1; }
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