added doc and tests for util2d.h

.github/workflows/cmake.yml

@@ -18,14 +18,18 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-24.04, ubuntu-22.04, ubuntu-20.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
 
     steps:    
     - name: Install dependencies
       run: |
         DEBIAN_FRONTEND=noninteractive
         sudo apt-get update
-        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev libgtest-dev
+        cd /usr/src/gtest
+        sudo cmake .
+        sudo make
+        sudo cp lib/*.a /usr/lib
 
     - uses: actions/checkout@v4
 
@@ -41,9 +45,6 @@ jobs:
       run: |
         ./rtabmap-console --version
 
-#    - name: Test
-#      working-directory: ${{github.workspace}}/build
-#      # Execute tests defined by the CMake configuration.  
-#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-#      run: ctest -C ${{env.BUILD_TYPE}}
-      
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      run: ctest -C ${{env.BUILD_TYPE}} --output-on-failure