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Improved test coverage for this branch

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This commit is contained in:
matlabbe
2026-10-03 15:40:25 -07:00
parent 3107470788
commit 41497e19bf
4 changed files with 88 additions and 39 deletions
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corelib/test/test_compression.cpp
+31
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@@ -1,5 +1,6 @@
#include <gtest/gtest.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/utilite/UException.h>
#include <opencv2/core.hpp>
#include <cstring>
#include <limits>
@@ -380,3 +381,33 @@ TEST(CompressionTest, LegacyFloatDepthIsLossless)
EXPECT_EQ(memcmp(restored.data, depth.data, depth.total() * depth.elemSize()), 0);
}
}
TEST(CompressionTest, MalformedDepthFormatsDecodeToEmpty)
{
// Signature and header only, no payload
std::vector<unsigned char> invDepth = {'D', 'E', 'P', 'T', 'H', 'I', 'N', 'V'};
invDepth.resize(16, 0);
EXPECT_TRUE(uncompressImage(invDepth).empty());
EXPECT_EQ(compressedDepthFormat(invDepth), ".png") << "too short to be inverse depth";
// Inverse depth header followed by an 8 bits image instead of a 16 bits one
const std::vector<unsigned char> png8 = compressImage(cv::Mat(4, 4, CV_8UC1, cv::Scalar(1)), ".png");
invDepth.insert(invDepth.end(), png8.begin(), png8.end());
EXPECT_TRUE(uncompressImage(invDepth).empty());
// RVL signature without its size
const std::vector<unsigned char> rvl = {'D', 'E', 'P', 'T', 'H', 'R', 'V', 'L', 4, 0};
EXPECT_TRUE(uncompressImage(rvl).empty());
EXPECT_EQ(compressedDepthFormat(rvl), ".rvl");
EXPECT_TRUE(uncompressImage(nullptr, 0).empty());
}
TEST(CompressionTest, CompressionThreadRejectsInvalidFormat)
{
// std::string: a string literal would select the (bytes, isImage) constructor
const cv::Mat depth(4, 4, CV_32FC1, cv::Scalar(1.0f));
EXPECT_THROW(CompressionThread(depth, std::string(".jpg:10")), UException);
EXPECT_THROW(CompressionThread(depth, std::string(".bmp")), UException);
EXPECT_NO_THROW(CompressionThread(depth, std::string(".rvl:10:100")));
}