diff --git a/cpp/sophus2/calculus/CMakeLists.txt b/cpp/sophus2/calculus/CMakeLists.txt
index 1b615617..b86c7ef0 100644
--- a/cpp/sophus2/calculus/CMakeLists.txt
+++ b/cpp/sophus2/calculus/CMakeLists.txt
@@ -14,8 +14,6 @@ farm_ng_add_library(sophus2_calculus
 )
 target_link_libraries(sophus2_calculus INTERFACE sophus2_common)
 
-if(${BUILD_SOPHUS_TESTS})
-  farm_ng_add_test(region
-    PARENT_LIBRARY sophus2_calculus
-    LABELS small)
-endif()
+farm_ng_add_test(region
+  PARENT_LIBRARY sophus2_calculus
+  LABELS small)
diff --git a/cpp/sophus2/ceres/CMakeLists.txt b/cpp/sophus2/ceres/CMakeLists.txt
index 2f09128c..53b13e40 100644
--- a/cpp/sophus2/ceres/CMakeLists.txt
+++ b/cpp/sophus2/ceres/CMakeLists.txt
@@ -14,18 +14,16 @@ farm_ng_add_library(sophus_ceres
 )
 target_link_libraries(sophus_ceres INTERFACE sophus2_lie)
 
-if(${BUILD_SOPHUS_TESTS})
-    find_package(Ceres 2.1.0 REQUIRED)
-    foreach(test_basename
-      ceres
-      manifold
-    )
-    farm_ng_add_test(${test_basename}
-                          PARENT_LIBRARY sophus_ceres
-                          LINK_LIBRARIES
-                          Ceres::ceres sophus_ceres
-                          farm_ng_core::farm_ng_core_pipeline
-                          sophus2_sensor
-                          LABELS large)
-    endforeach()
-endif()
+find_package(Ceres 2.1.0 REQUIRED)
+foreach(test_basename
+  ceres
+  manifold
+)
+farm_ng_add_test(${test_basename}
+                      PARENT_LIBRARY sophus_ceres
+                      LINK_LIBRARIES
+                      Ceres::ceres sophus_ceres
+                      farm_ng_core::farm_ng_core_pipeline
+                      sophus2_sensor
+                      LABELS large)
+endforeach()
diff --git a/cpp/sophus2/color/CMakeLists.txt b/cpp/sophus2/color/CMakeLists.txt
index cbfb010a..17226f67 100644
--- a/cpp/sophus2/color/CMakeLists.txt
+++ b/cpp/sophus2/color/CMakeLists.txt
@@ -15,12 +15,11 @@ farm_ng_add_library(sophus2_color
 )
 target_link_libraries(sophus2_color PUBLIC sophus2_calculus)
 
-if(${BUILD_SOPHUS_TESTS})
-  foreach(test_basename
-    color)
-    farm_ng_add_test(${test_basename}
-                          PARENT_LIBRARY sophus2_color
-                          LINK_LIBRARIES sophus2_color
-                          LABELS small)
-  endforeach()
-endif()
+foreach(test_basename
+  color)
+  farm_ng_add_test(${test_basename}
+                        PARENT_LIBRARY sophus2_color
+                        LINK_LIBRARIES sophus2_color
+                        LABELS small)
+endforeach()
+
diff --git a/cpp/sophus2/geometry/CMakeLists.txt b/cpp/sophus2/geometry/CMakeLists.txt
index dc618a4c..d72ed685 100644
--- a/cpp/sophus2/geometry/CMakeLists.txt
+++ b/cpp/sophus2/geometry/CMakeLists.txt
@@ -17,14 +17,14 @@ farm_ng_add_library(sophus2_geometry
 )
 target_link_libraries(sophus2_geometry INTERFACE sophus2_lie)
 
-  foreach(test_basename
-    fit_plane
-    inverse_depth
-    plane_conv
-    point_transform
-    ray)
-    farm_ng_add_test(${test_basename}
-                          PARENT_LIBRARY sophus2_geometry
-                          LINK_LIBRARIES sophus2_geometry
-                          LABELS small)
-  endforeach()
+foreach(test_basename
+  fit_plane
+  inverse_depth
+  plane_conv
+  point_transform
+  ray)
+  farm_ng_add_test(${test_basename}
+                        PARENT_LIBRARY sophus2_geometry
+                        LINK_LIBRARIES sophus2_geometry
+                        LABELS small)
+endforeach()
diff --git a/cpp/sophus2/image/CMakeLists.txt b/cpp/sophus2/image/CMakeLists.txt
index 411c9b73..41a90d1c 100644
--- a/cpp/sophus2/image/CMakeLists.txt
+++ b/cpp/sophus2/image/CMakeLists.txt
@@ -41,11 +41,9 @@ target_link_libraries(sophus2_image sophus2_geometry)
 
 
 
-if(${BUILD_SOPHUS_TESTS})
-  foreach(test_basename ${sophus2_image_src_prefixes})
-    farm_ng_add_test(${test_basename}
+foreach(test_basename ${sophus2_image_src_prefixes})
+  farm_ng_add_test(${test_basename}
                           PARENT_LIBRARY sophus2_image
                           LINK_LIBRARIES sophus2_image
                           LABELS small)
-  endforeach()
-endif()
+endforeach()
diff --git a/cpp/sophus2/image/dyn_image_test.cpp b/cpp/sophus2/image/dyn_image_test.cpp
index b7802d7c..10ca74df 100644
--- a/cpp/sophus2/image/dyn_image_test.cpp
+++ b/cpp/sophus2/image/dyn_image_test.cpp
@@ -23,7 +23,7 @@ using namespace sophus2;
   } while (false)
 
 TEST(AnyImage, create_access_and_extract) {
-  const ImageSize size64{6, 4};
+  ImageSize const size64{6, 4};
   MutImage<float> mut_image(size64);
   mut_image.fill(0.5f);
   Image<float> image(std::move(mut_image));
@@ -58,7 +58,7 @@ TEST(AnyImage, create_access_and_extract) {
 }
 
 TEST(IntensityImage, create_access_and_extract) {
-  const ImageSize size64{6, 4};
+  ImageSize const size64{6, 4};
   MutImage<float> mut_image(size64);
   mut_image.fill(0.5f);
   Image<float> image(std::move(mut_image));
@@ -70,7 +70,7 @@ TEST(IntensityImage, create_access_and_extract) {
 
 TEST(AnyImage, runtime_type_info) {
   {
-    const ImageSize size64{6, 4};
+    ImageSize const size64{6, 4};
     MutImage<float> mut_image(size64);
     AnyImage<> any_image(std::move(mut_image));
 
@@ -88,7 +88,7 @@ TEST(AnyImage, runtime_type_info) {
     SOPHUS_ASSERT(maybe_any_image2);
   }
   {
-    const ImageSize size64{6, 4};
+    ImageSize const size64{6, 4};
     MutImage<uint8_t> mut_image(size64);
     AnyImage<> any_image(std::move(mut_image));
 
@@ -98,7 +98,7 @@ TEST(AnyImage, runtime_type_info) {
     SOPHUS_ASSERT_EQ(any_image.pixelFormat().num_bytes_per_component, 1);
   }
   {
-    const ImageSize size64{6, 4};
+    ImageSize const size64{6, 4};
     MutImage3F32 mut_image(size64);
     AnyImage<> any_image(std::move(mut_image));
 
@@ -108,7 +108,7 @@ TEST(AnyImage, runtime_type_info) {
     SOPHUS_ASSERT_EQ(any_image.pixelFormat().num_bytes_per_component, 4);
   }
   {
-    const ImageSize size64{6, 4};
+    ImageSize const size64{6, 4};
     MutImage3U8 mut_image(size64);
     AnyImage<> any_image(std::move(mut_image));
 
@@ -118,7 +118,7 @@ TEST(AnyImage, runtime_type_info) {
     SOPHUS_ASSERT_EQ(any_image.pixelFormat().num_bytes_per_component, 1);
   }
   {
-    const ImageSize size64{6, 4};
+    ImageSize const size64{6, 4};
     MutImage<Eigen::Vector4f> mut_image(size64);
     AnyImage<> any_image(std::move(mut_image));
 
@@ -128,7 +128,7 @@ TEST(AnyImage, runtime_type_info) {
     SOPHUS_ASSERT_EQ(any_image.pixelFormat().num_bytes_per_component, 4);
   }
   {
-    const ImageSize size64{6, 4};
+    ImageSize const size64{6, 4};
     MutImage4U8 mut_image(size64);
     AnyImage<> any_image(std::move(mut_image));
 
@@ -278,3 +278,25 @@ TEST(IntensityImage, visitor) {
         runtime_sub);
   }
 }
+
+TEST(IntensityImage, conversion) {
+  auto typed_rgba_image = Image4U8::makeGenerative(
+      ImageSize{2, 3},
+      [](int u, int v) { return Pixel4<uint8_t>{u, 2 * v, 3, 255}; });
+
+  auto intensity_image = IntensityImage<>(typed_rgba_image);
+
+  FARM_ASSERT(intensity_image.has<Pixel4<uint8_t>>());
+
+  auto typed_rgba_image2 = intensity_image.image<Pixel4<uint8_t>>();
+
+  auto r_channel_image = sophus2::ImageU8::makeFromTransform(
+      typed_rgba_image2,
+      [](Pixel4<uint8_t> rgba_pixel) { return rgba_pixel.x(); });
+
+  for (int v = 0; v < r_channel_image.height(); ++v) {
+    for (int u = 0; u < r_channel_image.width(); ++u) {
+      SOPHUS_ASSERT_EQ(r_channel_image(u, v), u);
+    }
+  }
+}