Added integration tests (RGB-D, Stereo, Lidar2d, Lidar3d)

scripts/fetch_test_data.sh

@@ -0,0 +1,67 @@
+#!/usr/bin/env bash
+# Fetch test data assets listed in data/tests/manifest.txt from Google Drive.
+# Skips files that are already present and whose SHA-256 matches the manifest.
+# Intended for CI and local first-time setup.
+#
+# All linked files are public and under ~100 MB, so the direct GDrive download
+# URL (uc?export=download&id=...) streams the bytes directly without the
+# virus-scan interstitial that would otherwise need a tool like gdown.
+set -euo pipefail
+
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+MANIFEST="${REPO_ROOT}/data/tests/manifest.txt"
+DEST_DIR="${REPO_ROOT}/data/tests"
+
+if [[ ! -f "$MANIFEST" ]]; then
+	echo "Error: manifest not found at $MANIFEST" >&2
+	exit 1
+fi
+
+# macOS ships `shasum`, not `sha256sum`. Linux and Git-Bash-on-Windows have
+# sha256sum. Pick whichever is available.
+if command -v sha256sum >/dev/null 2>&1; then
+	sha256_of() { sha256sum "$1" | awk '{print $1}'; }
+elif command -v shasum >/dev/null 2>&1; then
+	sha256_of() { shasum -a 256 "$1" | awk '{print $1}'; }
+else
+	echo "Error: neither sha256sum nor shasum is on PATH" >&2
+	exit 1
+fi
+
+verify_sha() {
+	local file="$1" expected="$2"
+	if [[ "$expected" == "TODO_FILL_SHA256" || -z "$expected" ]]; then
+		echo "  (no SHA in manifest yet for $file; skipping integrity check)" >&2
+		return 0
+	fi
+	local actual
+	actual="$(sha256_of "$file")"
+	if [[ "$actual" != "$expected" ]]; then
+		echo "  SHA mismatch for $file: expected $expected, got $actual" >&2
+		return 1
+	fi
+}
+
+while IFS=$'\t' read -r name file_id expected_sha; do
+	# Skip comments and blank lines.
+	[[ -z "${name// }" || "$name" =~ ^# ]] && continue
+
+	target="$DEST_DIR/$name"
+	if [[ -f "$target" ]] && verify_sha "$target" "$expected_sha" 2>/dev/null; then
+		echo "Already up-to-date: $name"
+		continue
+	fi
+
+	url="https://drive.google.com/uc?export=download&id=${file_id}"
+	echo "Fetching $name <- $url"
+	mkdir -p "$(dirname "$target")"
+	# -L follows the redirect, -f fails on HTTP errors, -S shows errors on stderr.
+	curl -fsSL "$url" -o "$target.partial"
+	if ! verify_sha "$target.partial" "$expected_sha"; then
+		rm -f "$target.partial"
+		exit 1
+	fi
+	mv -f "$target.partial" "$target"
+done < "$MANIFEST"
+
+echo "Test data ready under $DEST_DIR"