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Added python tests

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matlabbe
2026-05-27 00:48:11 -07:00
parent f49157b4e2
commit 35dbb4f20a
7 changed files with 788 additions and 3 deletions
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corelib/test/CMakeLists.txt
+30
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@@ -173,6 +173,36 @@ add_executable(test_localgridmaker test_localgridmaker.cpp)
target_link_libraries(test_localgridmaker gtest_main rtabmap_core)
add_test(NAME test_localgridmaker COMMAND test_localgridmaker)
#PythonInterface / PyDetector / PyDescriptor / PyMatcher (optional Python
# support; bridges to Python feature detectors (SuperPoint), global
# descriptors (NetVLAD), and matchers (SuperGlue). Tests use numpy-only stub
# scripts so no ML weights or extra packages are needed beyond what
# WITH_PYTHON already pulls in.
IF(WITH_PYTHON AND Python3_FOUND)
# Direct tests for PythonInterface / getPythonTraceback. Links pybind11
# and Python headers so the test can drive the Python C API directly.
add_executable(test_python_interface test_python_interface.cpp)
target_link_libraries(test_python_interface gtest_main rtabmap_core pybind11::embed)
target_include_directories(test_python_interface PRIVATE ${Python3_INCLUDE_DIRS})
add_test(NAME test_python_interface COMMAND test_python_interface)
add_executable(test_pydetector test_pydetector.cpp)
target_link_libraries(test_pydetector gtest_main rtabmap_core)
add_test(NAME test_pydetector COMMAND test_pydetector)
add_executable(test_pydescriptor test_pydescriptor.cpp)
target_link_libraries(test_pydescriptor gtest_main rtabmap_core)
add_test(NAME test_pydescriptor COMMAND test_pydescriptor)
# PyMatcher's header is internal (not in the public include tree);
# expose corelib/src so the test can `#include "python/PyMatcher.h"`.
add_executable(test_pymatcher test_pymatcher.cpp)
target_link_libraries(test_pymatcher gtest_main rtabmap_core)
target_include_directories(test_pymatcher PRIVATE
${CMAKE_SOURCE_DIR}/corelib/src)
add_test(NAME test_pymatcher COMMAND test_pymatcher)
ENDIF(WITH_PYTHON AND Python3_FOUND)
#LASWriter.h (optional libLAS)
IF(libLAS_FOUND)
add_executable(test_laswriter test_laswriter.cpp)