Add tests for all relevant components in test_package

conanfile.py

@@ -129,7 +129,7 @@ def requirements(self):
         modules = self._enabled_modules
         self.output.info("Enabled modules:", modules)
         if "imageproc" in modules:
-            self.requires("libsgm/3.0.0@cupoch")
+            self.requires("libsgm/3.0.0@cupoch", transitive_headers=True)
         if "io" in modules:
             self.requires("libjpeg-turbo/3.0.0")
             self.requires("libpng/1.6.40")

test_package/CMakeLists.txt

@@ -3,17 +3,32 @@ project(PackageTest LANGUAGES CXX CUDA)
 
 find_package(cupoch REQUIRED)
 
-if (TARGET cupoch::registration)
-    add_executable(test_registration test_registration.cpp)
-    target_link_libraries(test_registration PRIVATE cupoch::registration)
+# Build a separate test executable for each module with external dependencies
+# to ensure that everything compiles and links correctly.
+
+# Using cupoch::cupoch as the link_libraries would also work.
+
+if (TARGET cupoch::imageproc)
+    add_executable(test_imageproc test_imageproc.cpp)
+    target_link_libraries(test_imageproc PRIVATE cupoch::imageproc cupoch::io)
+endif()
+
+if (TARGET cupoch::io)
+    add_executable(test_io test_io.cpp)
+    target_link_libraries(test_io PRIVATE cupoch::io)
 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)
+if (TARGET cupoch::registration)
+    add_executable(test_registration test_registration.cpp)
+    target_link_libraries(test_registration PRIVATE cupoch::registration)
+endif()
+
+if (TARGET cupoch::visualization)
+    add_executable(test_visualization test_visualization.cpp)
+    target_link_libraries(test_visualization PRIVATE cupoch::visualization)
 endif()

test_package/conanfile.py

@@ -25,12 +25,18 @@ def test(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.imageproc and cupoch_opts.io:
+            cmd = os.path.join(self.cpp.build.bindir, "test_imageproc")
+            self.run(cmd, env="conanrun")
         if cupoch_opts.io:
             cmd = os.path.join(self.cpp.build.bindir, "test_io")
             self.run(cmd, env="conanrun")
+        if cupoch_opts.registration:
+            cmd = os.path.join(self.cpp.build.bindir, "test_registration")
+            self.run(cmd, env="conanrun")
+        if cupoch_opts.visualization:
+            cmd = os.path.join(self.cpp.build.bindir, "test_visualization")
+            self.run(cmd, env="conanrun")

test_package/test_imageproc.cpp

@@ -0,0 +1,19 @@
+#include <cupoch/geometry/image.h>
+#include <cupoch/imageproc/sgm.h>
+#include <cupoch/io/class_io/image_io.h>
+
+using namespace cupoch;
+
+void testSGM() {
+    auto limg = io::CreateImageFromFile("../../testdata/left.png")->CreateGrayImage();
+    auto rimg = io::CreateImageFromFile("../../testdata/right.png")->CreateGrayImage();
+    imageproc::SGMOption params(limg->width_, limg->height_);
+    imageproc::SemiGlobalMatching sgm(params);
+    auto disp = sgm.ProcessFrame(*limg, *rimg);
+    disp->LinearTransform(255.0 / 127.0);
+}
+
+int main() {
+    // Only testing that the code compiles and links.
+    return 0;
+}

test_package/test_visualization.cpp

@@ -0,0 +1,16 @@
+#include <cupoch/geometry/pointcloud.h>
+#include <cupoch/io/class_io/pointcloud_io.h>
+#include <cupoch/visualization/utility/draw_geometry.h>
+
+using namespace cupoch;
+
+void displayPointCloud() {
+    auto pcd = io::CreatePointCloudFromFile("test.ply");
+    pcd->EstimateNormals();
+    visualization::DrawGeometries({pcd});
+}
+
+int main() {
+    // Only testing that the code compiles and links.
+    return 0;
+}