Initial implementation of a Floorplanner compositor and a unit test.

The unit test might be useful on its own, without the composite part.

TODO: all the TODOs, add remaining ground truth images
TODO: remove the commented-out portions of the code

src/tests/CMakeLists.txt

@@ -8,9 +8,20 @@ find_package(
   OPTIONAL_COMPONENTS GltfSceneConverter KtxImageConverter
 )
 
-configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/configure.h.cmake ${CMAKE_CURRENT_BINARY_DIR}/configure.h
-)
+# If Magnum is built as static (i.e., the bundled submodule), the plugin is
+# static as well, and gets linked to the test. Otherwise it's dynamic and
+# loaded through its filename.
+if(MAGNUM_BUILD_STATIC)
+  set(HABITAT_IMPORTER_PLUGIN "HabitatImporter")
+else()
+  set(HABITAT_IMPORTER_PLUGIN $<TARGET_FILE:HabitatImporter>)
+endif()
+
+# First replace ${} variables, then $<> generator expressions
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/configure.h.cmake
+               ${CMAKE_CURRENT_BINARY_DIR}/configure.h.in)
+file(GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>/configure.h
+    INPUT ${CMAKE_CURRENT_BINARY_DIR}/configure.h.in)
 
 corrade_add_test(
   AttributesConfigsTest
@@ -20,7 +31,7 @@ corrade_add_test(
   assets
   metadata
 )
-target_include_directories(AttributesConfigsTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(AttributesConfigsTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(
   AttributesManagersTest
@@ -30,7 +41,7 @@ corrade_add_test(
   assets
   metadata
 )
-target_include_directories(AttributesManagersTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(AttributesManagersTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(
   GfxBatchRendererTest
@@ -43,7 +54,7 @@ corrade_add_test(
   MagnumPlugins::KtxImporter
   MagnumPlugins::StbImageImporter
 )
-target_include_directories(GfxBatchRendererTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(GfxBatchRendererTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 if(BUILD_WITH_CUDA)
   target_include_directories(
     GfxBatchRendererTest PRIVATE ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
@@ -56,10 +67,26 @@ if(MagnumPlugins_KtxImageConverter_FOUND)
   target_link_libraries(GfxBatchRendererTest PRIVATE MagnumPlugins::KtxImageConverter)
 endif()
 
+corrade_add_test(
+  FloorplannerProcessingTest
+  FloorplannerProcessingTest.cpp
+  LIBRARIES
+  gfx_batch
+  Magnum::DebugTools
+  Magnum::AnySceneImporter
+  MagnumPlugins::GltfImporter
+  MagnumPlugins::KtxImporter
+  MagnumPlugins::StbImageImporter
+)
+target_include_directories(FloorplannerProcessingTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
+if(MAGNUM_BUILD_STATIC)
+  target_link_libraries(FloorplannerProcessingTest PRIVATE HabitatImporter)
+endif()
+
 corrade_add_test(CoreTest CoreTest.cpp LIBRARIES core io)
 
 corrade_add_test(CullingTest CullingTest.cpp LIBRARIES gfx)
-target_include_directories(CullingTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(CullingTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(
   DepthUnprojectionTest
@@ -73,7 +100,7 @@ corrade_add_test(
 )
 
 corrade_add_test(DrawableTest DrawableTest.cpp LIBRARIES gfx)
-target_include_directories(DrawableTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(DrawableTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(GeoTest GeoTest.cpp LIBRARIES geo)
 
@@ -85,7 +112,7 @@ corrade_add_test(
   gfx
   sim
 )
-target_include_directories(GfxReplayTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(GfxReplayTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 if(BUILD_WITH_BACKGROUND_RENDERER)
   corrade_add_test(
@@ -98,29 +125,29 @@ if(BUILD_WITH_BACKGROUND_RENDERER)
     sim
   )
   target_include_directories(
-    BatchReplayRendererTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
+    BatchReplayRendererTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>
   )
 endif()
 
 corrade_add_test(GibsonSceneTest GibsonSceneTest.cpp LIBRARIES scene sim)
-target_include_directories(GibsonSceneTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(GibsonSceneTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(HM3DSceneTest HM3DSceneTest.cpp LIBRARIES scene sim)
-target_include_directories(HM3DSceneTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(HM3DSceneTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(IOTest IOTest.cpp LIBRARIES io metadata)
-target_include_directories(IOTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(IOTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(LoggingTest LoggingTest.cpp LIBRARIES core)
 set_tests_properties(LoggingTest PROPERTIES ENVIRONMENT HABITAT_SIM_LOG="")
 
 corrade_add_test(
   MetadataMediatorTest MetadataMediatorTest.cpp LIBRARIES assets metadata
 )
-target_include_directories(MetadataMediatorTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(MetadataMediatorTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(Mp3dTest Mp3dTest.cpp LIBRARIES scene)
-target_include_directories(Mp3dTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(Mp3dTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(
   NavTest
@@ -131,7 +158,7 @@ corrade_add_test(
   io
   assets
 )
-target_include_directories(NavTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(NavTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(
   PathFinderTest
@@ -141,10 +168,10 @@ corrade_add_test(
   io
   Corrade::Utility
 )
-target_include_directories(PathFinderTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(PathFinderTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(PhysicsTest PhysicsTest.cpp LIBRARIES physics)
-target_include_directories(PhysicsTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(PhysicsTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(
   ReplicaSceneTest
@@ -154,10 +181,10 @@ corrade_add_test(
   assets
   sim
 )
-target_include_directories(ReplicaSceneTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(ReplicaSceneTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(ResourceManagerTest ResourceManagerTest.cpp LIBRARIES assets)
-target_include_directories(ResourceManagerTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(ResourceManagerTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 corrade_add_test(SceneGraphTest SceneGraphTest.cpp LIBRARIES scene)
 
@@ -172,7 +199,7 @@ corrade_add_test(
   Magnum::AnyImageConverter
   MagnumPlugins::StbImageImporter
 )
-target_include_directories(SimTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(SimTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 
 if(BUILD_WITH_VHACD)
   corrade_add_test(
@@ -186,7 +213,7 @@ if(BUILD_WITH_VHACD)
     Magnum::AnyImageConverter
     MagnumPlugins::StbImageImporter
   )
-  target_include_directories(VoxelGridTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+  target_include_directories(VoxelGridTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
 endif()
 
 # Some tests are LOUD, we don't want to include their full log (but OTOH we