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split channel example in test #243

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split channel example in test #243

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8 changes: 3 additions & 5 deletions cpp/sophus2/calculus/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
28 changes: 13 additions & 15 deletions cpp/sophus2/ceres/CMakeLists.txt
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Expand Up @@ -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()
17 changes: 8 additions & 9 deletions cpp/sophus2/color/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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()

22 changes: 11 additions & 11 deletions cpp/sophus2/geometry/CMakeLists.txt
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Expand Up @@ -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()
8 changes: 3 additions & 5 deletions cpp/sophus2/image/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
38 changes: 30 additions & 8 deletions cpp/sophus2/image/dyn_image_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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));
Expand Down Expand Up @@ -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));
Expand All @@ -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));

Expand All @@ -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));

Expand All @@ -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));

Expand All @@ -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));

Expand All @@ -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));

Expand All @@ -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));

Expand Down Expand Up @@ -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);
}
}
}
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