Add tests for individual components in test_package

src/cupoch/kinematics/CMakeLists.txt

@@ -6,6 +6,7 @@ set(CUPOCH_MODULES ${CUPOCH_MODULES} cupoch_kinematics PARENT_SCOPE)
 find_package(urdfdom REQUIRED CONFIG)
 
 file(GLOB_RECURSE KINEMATICS_SOURCE_FILES "*.cpp")
+set_source_files_properties(${KINEMATICS_SOURCE_FILES} PROPERTIES LANGUAGE CUDA)
 
 # Create object library
 add_library(cupoch_kinematics ${KINEMATICS_SOURCE_FILES})

test_package/CMakeLists.txt

@@ -3,5 +3,17 @@ project(PackageTest LANGUAGES CXX CUDA)
 
 find_package(cupoch REQUIRED)
 
-add_executable(test_registration test_registration.cpp)
-target_link_libraries(test_registration PRIVATE cupoch::registration)
+if (TARGET cupoch::registration)
+    add_executable(test_registration test_registration.cpp)
+    target_link_libraries(test_registration PRIVATE cupoch::registration)
+endif()
+
+if (TARGET cupoch::kinematics)
+    add_executable(test_kinematics test_kinematics.cpp)
+    target_link_libraries(test_kinematics PRIVATE cupoch::kinematics)
+endif()
+
+if (TARGET cupoch::io)
+    add_executable(test_io test_io.cpp)
+    target_link_libraries(test_io PRIVATE cupoch::io)
+endif()

test_package/conanfile.py

@@ -22,6 +22,15 @@ def build(self):
         cmake.build()
 
     def test(self):
-        if can_run(self):
+        if not can_run(self):
+            return
+        cupoch_opts = self.dependencies["cupoch"].options
+        if cupoch_opts.registration:
             cmd = os.path.join(self.cpp.build.bindir, "test_registration")
             self.run(cmd, env="conanrun")
+        if cupoch_opts.kinematics:
+            cmd = os.path.join(self.cpp.build.bindir, "test_kinematics")
+            self.run(cmd, env="conanrun")
+        if cupoch_opts.io:
+            cmd = os.path.join(self.cpp.build.bindir, "test_io")
+            self.run(cmd, env="conanrun")

test_package/test_io.cpp

@@ -0,0 +1,69 @@
+/**
+ * Copyright (c) 2020 Neka-Nat
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ **/
+
+#include <cupoch/geometry/image.h>
+#include <cupoch/geometry/pointcloud.h>
+#include <cupoch/geometry/trianglemesh.h>
+#include <cupoch/geometry/voxelgrid.h>
+#include <cupoch/io/class_io/image_io.h>
+#include <cupoch/io/class_io/pointcloud_io.h>
+#include <cupoch/io/class_io/trianglemesh_io.h>
+#include <cupoch/io/class_io/voxelgrid_io.h>
+#include <cupoch/utility/console.h>
+
+using namespace cupoch;
+
+void downsampleImage() {
+    auto color_image_8bit = io::CreateImageFromFile("test.png");
+    utility::LogDebug("RGB image size : {:d} x {:d}", color_image_8bit->width_,
+                      color_image_8bit->height_);
+    io::WriteImage("copy.png", *color_image_8bit);
+    auto float_image = color_image_8bit->CreateFloatImage();
+    io::WriteImage("floatimage.png",
+                   *float_image->CreateImageFromFloatImage<uint8_t>());
+    auto downsampled_image = float_image->Downsample();
+    io::WriteImage("downsample.png",
+                   *downsampled_image->CreateImageFromFloatImage<uint8_t>());
+}
+
+void estimateNormals() {
+    auto pcd = io::CreatePointCloudFromFile("test.ply");
+    pcd->EstimateNormals();
+}
+
+void loadMesh() {
+    auto mesh = io::CreateMeshFromFile("test.ply");
+    utility::LogDebug("Vertices size : {:d}", mesh->vertices_.size());
+}
+
+void toVoxelGrid() {
+    auto pcd = io::CreatePointCloudFromFile("test.ply");
+    auto voxel = geometry::VoxelGrid::CreateFromPointCloud(*pcd, 0.05);
+    io::WriteVoxelGrid("result.ply", *voxel, true);
+    auto voxel_read = io::CreateVoxelGridFromFile("result.ply");
+}
+
+int main() {
+    utility::InitializeAllocator();
+    utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
+    // Only testing that the code compiles and links.
+    return 0;
+}

test_package/test_kinematics.cpp

@@ -0,0 +1,18 @@
+#include <cupoch/kinematics/kinematic_chain.h>
+
+using namespace cupoch;
+
+void testKinematics() {
+    auto kin = kinematics::KinematicChain();
+    auto poses = kin.ForwardKinematics();
+    auto meshes = kin.GetTransformedVisualGeometryMap(poses);
+    std::vector<std::shared_ptr<const geometry::Geometry>> geoms;
+    for (const auto& m : meshes) {
+        geoms.push_back(m.second);
+    }
+}
+
+int main() {
+    // Only testing that the code compiles and links.
+    return 0;
+}