CI coverage: adding g2o, gtsam, ceres and libpointmatcher. (#1743)

* CI coverage: adding g2o, gtsam, ceres and libpointmatcher. Also fetch test data for integration tests.

* ld

* Increasing ci test timeout for coverage

* Fixed tests when vertigo is not there

* verbose tests

* updating flaky test

* faster coverage by extending unit tests and disable integration test (only for coverage report)

* improving coverage of unit tests in comparison to integrations tests

* fixing not covered new lines

corelib/test/test_cameraimages.cpp

@@ -0,0 +1,93 @@
+
+
+#include <gtest/gtest.h>
+#include <rtabmap/core/camera/CameraImages.h>
+#include <rtabmap/core/SensorData.h>
+#include <rtabmap/core/SensorCaptureInfo.h>
+#include <rtabmap/core/Transform.h>
+#include <opencv2/core.hpp>
+#include <string>
+
+using namespace rtabmap;
+
+// ---------------------------------------------------------------------------
+// CameraImages over a real image directory. The tests above use a mock capture
+// to cover the SensorCapture base class (frame-rate throttling, local
+// transform, info filling); this drives the concrete directory-scanning
+// implementation over the 84 committed images in data/samples.
+// ---------------------------------------------------------------------------
+
+
+TEST(CameraImagesTest, ScansSampleDirectoryAndCapturesFrames)
+{
+	const std::string path = std::string(RTABMAP_TEST_DATA_ROOT) + "/samples";
+	CameraImages camera(path);
+	ASSERT_TRUE(camera.init()) << "could not scan " << path;
+	// data/samples ships no calibration, so the model stays unnamed and
+	// getSerial() (which returns the model name) is empty -- the two must agree.
+	EXPECT_FALSE(camera.isCalibrated());
+	EXPECT_TRUE(camera.getSerial().empty());
+
+	// Take a handful rather than all 84: enough to exercise the scan/decode
+	// loop and the frame ordering without paying for the whole directory.
+	Transform previousStamp;
+	int frames = 0;
+	double lastStamp = -1.0;
+	for(int i = 0; i < 5; ++i)
+	{
+		SensorCaptureInfo info;
+		SensorData data = camera.takeData(&info);
+		if(data.imageRaw().empty() && data.imageCompressed().empty())
+		{
+			break;
+		}
+		++frames;
+		EXPECT_GT(data.imageRaw().cols, 0);
+		EXPECT_GT(data.imageRaw().rows, 0);
+		EXPECT_GT(data.stamp(), lastStamp) << "stamps must increase across frames";
+		lastStamp = data.stamp();
+	}
+	EXPECT_EQ(5, frames) << "expected 5 frames from a directory of 84 images";
+}
+
+// setStartIndex()/setMaxFrames() are how callers replay a slice of a
+// directory; without them the reader always starts at the first file.
+TEST(CameraImagesTest, HonoursStartIndexAndMaxFrames)
+{
+	const std::string path = std::string(RTABMAP_TEST_DATA_ROOT) + "/samples";
+
+	CameraImages fromStart(path);
+	ASSERT_TRUE(fromStart.init());
+	SensorData first = fromStart.takeData();
+	ASSERT_FALSE(first.imageRaw().empty());
+
+	CameraImages skipped(path);
+	skipped.setStartIndex(10);
+	skipped.setMaxFrames(2);
+	ASSERT_TRUE(skipped.init());
+
+	SensorData tenth = skipped.takeData();
+	ASSERT_FALSE(tenth.imageRaw().empty()) << "start index 10 returned nothing";
+	// Different file, so the decoded pixels should differ from frame 0.
+	EXPECT_NE(0.0, cv::norm(first.imageRaw(), tenth.imageRaw(), cv::NORM_L1))
+			<< "start index had no effect: same image as the first frame";
+
+	EXPECT_FALSE(skipped.takeData().imageRaw().empty()) << "second of maxFrames=2 missing";
+	EXPECT_TRUE(skipped.takeData().imageRaw().empty()) << "maxFrames=2 should stop after two frames";
+}
+
+// The default constructor takes no path; a caller uses setPath()/setStartIndex()
+// before init(). Covered separately because the path constructor above runs a
+// different initialiser list.
+TEST(CameraImagesTest, DefaultConstructedIsUnconfigured)
+{
+	CameraImages camera;
+	EXPECT_FALSE(camera.isCalibrated());
+	EXPECT_TRUE(camera.getSerial().empty());
+	// No directory yet, so scanning must fail rather than assert.
+	EXPECT_FALSE(camera.init());
+
+	camera.setPath(std::string(RTABMAP_TEST_DATA_ROOT) + "/samples");
+	ASSERT_TRUE(camera.init()) << "init() failed after setPath()";
+	EXPECT_FALSE(camera.takeData().imageRaw().empty());
+}