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Adding doc and tests (#1492)

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* added doc and tests for util2d.h

* updated cmake-ros ci

* Added util3d.h doc and tests

* util3d_transforms.h: Added doc and tests

* util3d_filtering.h: started doc and test

* util3d_filtering.h: more tests and doc

* Added more doc/tests

* finished util3d_filtering doc and tests

* added test for util2d::depthBleedingFiltering

* Added util3d_registration tests

* Added util3d_features.h doc/tests

* added doc/tests for util3d_correspondences.h

* added doc/gtest for util3d_mapping.h (missing hpp functions)

* finished testing util3d_mapping.hpp

* Added util3d_motion_estimation.h tests (2D->3D done)

* finished util3d_motion_estimation.h tests

* minimal util3d_surface.h

* Added Transform and VisualWord tests

* Added doc for CameraModel and StereoCameraModel

* Added more logs in ros ci

* Passing tests on fical

* improved all devcontainer

* added devcontainer kilted, fixed source setup.bash, removed ldconfig in ros-cmake workflow

* cleanup

* source ros

* Added utilite tests

* Added testing to appveyor, github actions cancellable on re-commit on same branch

* appveyor testing without all targets

* appveyor: specifying ALL_BUILD target

* Fixed Util2dTest.NMSImageBoundsRespected test

* Fixing PCL Indices error on old pcl

* Added VWDictionary tests and doc. Fixed LSH not working (fix from https://github.com/flann-lib/flann/pull/472

* fixing some appveyor CI errors, added test to check dictionary serialization against all type

* Added StereoDense, StereoBM and StereoSGBM doc and tests

* Added Stereo tests

* Added CameraModel and StereoCameraModel tests

* Added doc and test for Statistics

* Added doc/tests for Signature

* Added doc/test for SensorEvent, added doc for SensorCaptureInfo

* Added doc to SensorData

* Added SensorData tests

* Added SensorCapture and SensorCaptureThread doc and tests

* fixed sensordata test

* updated SSC test and doc

* Added doc and tests for BayesFilter class

* Enabled testing on mac, updated windows testing like on linux

* added test_link

* fixed unresolved on windows

* fixed ThreadHandle error on macos ci

* Added GPS and GeodeticCoords tests

* Added tests for compression

* Added Odometry tests (base class only)

* Added DBDriver tests

* Added coverage report

* uniformized test names

* fixing concurancy and coverage ci

* dont built tools, examples and app for coverage build

* fixed report tool rebuilt without qt compilation error

* updated coverage option

* updated coverage config

* added doc CI job

* fixing windows and mac ci errors

* Added DBDriverSqlite3 tests

* Added IMU tests

* Added Graph tests

* fixing flaky macos test

* Added IMUThread and IMUFilter tests

* Added Landmarks tests

* Added LASWriter tests

* fixing seed flaky test

* fixing flaky macos timing tests

* Added LocalGrid tests

* Added LocalGridMaker tests

* fixing ci errors

* Added GlobalMap tests

* Added doc for EnvSensor

* Added Features2D tests

* Added Registration tests

* Added RegistrationVis tests

* Added doc for Rtabmap and Memory classes

* Added Memory and Rtabmap tests

* making some tests less flaky

* lcov 1.14 support

* updated compatible tool arguments

* Added integration tests (RGB-D, Stereo, Lidar2d, Lidar3d)

* More octomap checks

* Refactored how/when python interpretor is created to simplify library usage

* Added python tests

* fixed some flaky tests

* suppressed some third party related warnings

* fixed ceres tests

* more flaky fixes

* Fixing tests without libpointmatcher

* Added RANSAC rejection filter to PCL ICP

* fixing multi platform flakiness

* Added test to detect regression

* Fixing windows pcl link error

* fixed some macos flakiness

* bigger 2D2D registration error on opencv 4.6.0

* flakiness

* fixing flaky tests on windows and mac

* flaky thread test on slow mac VM

* windows slow test

* fixing more ci erros

* fxing temp dir on windows

* Added Optimizer tests and discovered some bugs (fixed)

* fixing flaky tests in mac and windows

* Added Optimizer doc

* Added GTSAM BA, updated Ceres to use g2o ba parameters. Renamed g2o's ba related parameters to Optimizer group and used by both gtsam and ceres.

* fixing build without gtsam

* fixing home dir

* fixing python ci isssues

* Added multicam ba tests

* Added Ceres multicam BA support

* Aligned BundleAdjustment parameters with Optimizer/Strategy to avoid confusion in the code

* Added BA integration test

* Added robust graph optimization integration test

* Added loop3it test

* Added stereo20Hz test

* Added smartfactor gtsam

* Fixed bugged check and warn if python didn't return any descriptors

* Fixing gtsam version build issues

* fixing tilt on windows ci

* loosing ceres integration test for ci

* mac ci flakiness

* updating missing param in gui

* updating test bound for mac

* added appearance-based tests, set min gftt quality to quality level

* testing more stuff

* improving features2d tests

* ci flakiness

* fixing flaky ci

* ci fixes

* flaky fixes

* Added RegistrationIcp tests

* Added icp integration test with real-worl corridor like env

* intermediate nodes

* fixing enum

* Updated test to catch #1714

* Fixed 2d corridor failing on pcl

* flaky pnp test

* flaky brisk test

* Set rtabmap_integration test as long

* updating loop closure test

* flaky ci tests

* TEsting roundtrip g2o/toro save/load

* loosing test bound

* fixed cuda capable checks

* flaky tests

* Debugging test hanging

* more debugging stuff

* updating limit

* windows: disabled cuda on ci to avoid incompatible driver issue. Fixing a bad test mem allocation

* trying fixing cuda hanging issue

* fixing ci flakyness

* flaky tests

* Updated BOW flaky tests by checking min precision/recall instead of recall@100precision. Fixed signature test

* CameraModel::load() test initRectificationMap param

* test dbdriver load dictionary idsOnly

* Memory: test keepLinkedInDb param

* added dummyDictionary tests

* test intermediate nodes count

* Added MarkerDetector tests

* reverted breaking change of UMutex and USemaphore

* Features2d: fixed compiltion warnings with clang about override

* clang warnings

* fixing test build with pcl 1.8

* g2o and gtsam build errors on android

* opencv5 test fixes

* disabled testing for ios and android builds

* normalized endline characters for easier diff

* added LF CRLF rule

* bump 0.23.10. fixing doc version

* Publish rtabmap website doc from ci

* fixing MSCVC build error

* macos icp flaky test

* fixing ceres macos test bound

* ficing more flaky tests

* fixing opencv5 related test errors. Also fixed an actual bug in ENU_WGS84ToGeocentric_WGS84()

* added comment about mrpt change

* removed rosdoc2 (will add it for rtabmap_ros later)

* fixing website style

* updated download links

* locally deployable website with api

* sweep doxygen issues

* improved/revised doxygen main pages

* removed examples empty page

* Updated doxygen style

* more concise doxygen groups

* added api link on main readme

* fixing utilite test error

* fixing CommonFilteringGroundNormalsUp test

* updated precisionRecall test bounds for Freak and brief descriptors

* fixing scale check in ba tests

* disabled tests on windows cuda build (missing dlls amd runner cannot test cuda anyway)

* ceres: missing suitesparse dep in windows ci

* adjusting recall thr for fast/freak

* ficing more flaky tests

* fixing flaky tests

* disabled coverage in ros ci

* Enable integration tests for ros ci jobs

* loosing up some threshold for failing tests

* trigger cache

* fixing test data in ros ci. Updated flaky test for mac

* slaking some test limit

* Fixed rtabmap-detectMoreLoopClosures inverted output value

* loosing up sift recall on mac

* optimizer re-ordered distribution for reproducible results (mac g2o)

* macos dump test crash log

* combining all tests to save time on shared library reload. Also fixed Logs with missing arguments.

* Added ENABLE_FORMAT_ERRORS cmake option

* do test only one time

* fixed all format warnings

* format security android build errors

* less verbose tests

* updated ImuUThread test

* fixed a log

* Fixed libpointmatcher 2d normals eigen issue

* Fixing libpointmatcher conversion issues

* fixing libpointmatcher test on windows ci

* cleanup comments, relax some test thr

* disabled sequoia-intel ci build (too flaky, would need extensive testing directly on that machine)
This commit is contained in:
matlabbe
2026-08-06 13:32:20 -07:00
committed by GitHub
parent bcdb4b4546
commit ee49beaf4f
309 changed files with 67469 additions and 3070 deletions
Download Patch File Download Diff File Expand all files Collapse all files

73
.github/workflows/cmake-macos.yml vendored
View File

@@ -22,11 +22,12 @@ jobs:
strategy:
fail-fast: true
matrix:
build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon, macos-tahoe-intel-cv5, macos-tahoe-apple-silicon-cv5]
build_name: [macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon, macos-tahoe-intel-cv5, macos-tahoe-apple-silicon-cv5]
include:
- build_name: macos-sequoia-intel
os: macos-15-intel
cv: opencv@4
# macos-sequoia-intel temporarily disabled. Had some g2o optimizer issues.
#- build_name: macos-sequoia-intel
# os: macos-15-intel
# cv: opencv@4
- build_name: macos-sequoia-apple-silicon
os: macos-15
cv: opencv@4
@@ -45,6 +46,21 @@ jobs:
steps:
- uses: actions/checkout@v4
- name: Restore test data
id: cache-testdata
uses: actions/cache@v4
with:
# SQLite DBs are binary-portable -> share the cache across
# linux / macos / windows. Key omits runner.os on purpose so all
# three OSes hit the same entry.
path: data/tests/*.db
key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
- name: Fetch test data
if: steps.cache-testdata.outputs.cache-hit != 'true'
shell: bash
run: bash scripts/fetch_test_data.sh
- name: Install Brew Dependencies
run: |
# Update brew and install from Brewfile if present, or specific packages
@@ -66,6 +82,7 @@ jobs:
LIBOMP=$(brew --prefix libomp)
cmake -B ${{github.workspace}}/build \
-DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
-DBUILD_TESTING=ON \
-DBUILD_AS_BUNDLE=ON \
-DWITH_ORBBEC_SDK=ON \
-DWITH_DEPTHAI=ON \
@@ -98,9 +115,45 @@ jobs:
if-no-files-found: warn
retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
# - 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
# PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
# loading numpy / other site-packages from the user's site that were
# compiled against a different ABI than the build-time Python.
env:
PYTHONNOUSERSITE: 1
run: |
ctest -C ${{env.BUILD_TYPE}} --output-on-failure
# A ctest SEGFAULT is reported as just "SEGFAULT" with no backtrace, which
# makes a crash inside a long integration test invisible -- the log simply
# stops mid-test. macOS's ReportCrash writes a symbolized .ips report for
# every crashed process, so surface any that appeared during this job.
- name: Dump macOS crash reports on failure
if: failure()
run: |
# ReportCrash can lag the process death by a few seconds.
sleep 20
found=0
for d in "$HOME/Library/Logs/DiagnosticReports" /Library/Logs/DiagnosticReports; do
[ -d "$d" ] || continue
while IFS= read -r f; do
found=1
echo "::group::$f"
cat "$f"
echo "::endgroup::"
done < <(find "$d" -type f \( -name '*.ips' -o -name '*.crash' \) -mtime -1 2>/dev/null | sort)
done
if [ "$found" = 0 ]; then
echo "No crash reports found -- the job may have failed without a crash."
fi
- name: Upload ctest log on failure
if: failure()
uses: actions/upload-artifact@v4
with:
name: ctest-log-${{ matrix.build_name }}
path: build/Testing/Temporary/LastTest.log
if-no-files-found: warn
retention-days: 7