Adding doc and tests (#1492)

* 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)

CMakeLists.txt

@@ -22,7 +22,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 23)
-SET(RTABMAP_PATCH_VERSION 9)
+SET(RTABMAP_PATCH_VERSION 10)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
 
@@ -167,6 +167,61 @@ ENDIF(APPLE OR WIN32)
 OPTION(BUILD_APP "Build main application" ON)
 OPTION(BUILD_TOOLS "Build tools" ON)
 OPTION(BUILD_EXAMPLES "Build examples" ON)
+# Off by default: it downloads the Doxygen theme at configure time, which an
+# ordinary build has no reason to need. Set by docs-report.sh.
+OPTION(BUILD_DOCUMENTATION "Prepare the API documentation build (downloads the Doxygen theme)" OFF)
+
+# The unit tests are host executables run by ctest, which can't be done from a
+# cross-compiled Android/iOS build.
+if(ANDROID OR IOS OR CMAKE_SYSTEM_NAME STREQUAL "iOS")
+   set(BUILD_TESTING OFF CACHE BOOL "Build the testing tree." FORCE)
+endif()
+
+include(CTest)
+if(BUILD_TESTING)
+   # Add GTest using FetchContent
+   include(FetchContent)
+   FetchContent_Declare(
+       googletest
+       URL https://github.com/google/googletest/archive/refs/tags/v1.16.0.zip
+   )
+   FetchContent_GetProperties(googletest)
+   if(NOT googletest_POPULATED)
+     FetchContent_Populate(googletest)
+     add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR})
+   endif()
+   include(GoogleTest)
+   set(TEST_DATA_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/data"
+       CACHE PATH "Root directory holding the test fixtures (data/tests/*.db)")
+endif()
+
+OPTION(ENABLE_COVERAGE "Build with gcov/lcov coverage (GCC/Clang, Debug only; see coverage-report.sh)" OFF)
+IF(ENABLE_COVERAGE)
+   IF(NOT CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+      MESSAGE(FATAL_ERROR "ENABLE_COVERAGE requires GCC or Clang with gcov/lcov (current: ${CMAKE_CXX_COMPILER_ID}).")
+   ENDIF()
+   IF(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+      MESSAGE(FATAL_ERROR "ENABLE_COVERAGE requires CMAKE_BUILD_TYPE=Debug (current: \"${CMAKE_BUILD_TYPE}\").")
+   ENDIF()
+   MESSAGE(STATUS "Coverage instrumentation enabled")
+   ADD_COMPILE_OPTIONS(--coverage -O0 -g)
+   ADD_LINK_OPTIONS(--coverage)
+ENDIF()
+
+# Check UDEBUG/UINFO/UWARN/UERROR/uFormat format strings against their
+# arguments.
+# -Wno-format-zero-length: UDEBUG("") is used deliberately as a trace point
+# -Wformat-security: non-literal format strings, e.g. UERROR(uFormat(...).c_str())
+OPTION(ENABLE_FORMAT_ERRORS "Treat log/uFormat format-string mismatches as errors (GCC/Clang)" OFF)
+IF(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+   ADD_COMPILE_OPTIONS(-Wformat -Wformat-security -Wno-format-zero-length)
+   IF(ENABLE_FORMAT_ERRORS)
+      MESSAGE(STATUS "Format-string mismatches are errors")
+      ADD_COMPILE_OPTIONS(-Werror=format -Werror=format-security)
+   ENDIF()
+ELSEIF(ENABLE_FORMAT_ERRORS)
+   MESSAGE(WARNING "ENABLE_FORMAT_ERRORS has no effect on ${CMAKE_CXX_COMPILER_ID} (needs GCC/Clang)")
+ENDIF()
 
 ####### DEPENDENCIES #######
 IF(MOBILE_BUILD)
@@ -1263,6 +1318,15 @@ ENDIF()
 
 CONFIGURE_FILE(Version.h.in ${CMAKE_CURRENT_BINARY_DIR}/corelib/src/include/${PROJECT_PREFIX}/core/Version.h)
 
+# API documentation (Doxygen). Off by default: preparing it downloads the theme,
+# spawns Doxygen to regenerate the HTML header and runs the parameter-page
+# generator, none of which an ordinary build needs. docs-report.sh turns it on;
+# see also .github/workflows/docs.yml.
+IF(BUILD_DOCUMENTATION)
+   INCLUDE(RTABMapDocumentation)
+   RTABMAP_SETUP_DOCUMENTATION()
+ENDIF(BUILD_DOCUMENTATION)
+
 ADD_SUBDIRECTORY( utilite )
 ADD_SUBDIRECTORY( corelib )
 
@@ -1495,6 +1559,9 @@ MESSAGE(STATUS "  CMAKE_INSTALL_LIBDIR = ${CMAKE_INSTALL_LIBDIR}")
 MESSAGE(STATUS "  BUILD_APP =            ${BUILD_APP}")
 MESSAGE(STATUS "  BUILD_TOOLS =          ${BUILD_TOOLS}")
 MESSAGE(STATUS "  BUILD_EXAMPLES =       ${BUILD_EXAMPLES}")
+MESSAGE(STATUS "  BUILD_TESTING =        ${BUILD_TESTING}")
+MESSAGE(STATUS "  ENABLE_COVERAGE =      ${ENABLE_COVERAGE}")
+MESSAGE(STATUS "  ENABLE_FORMAT_ERRORS = ${ENABLE_FORMAT_ERRORS}")
 IF(NOT WIN32)
     # see comment above for the BUILD_SHARED_LIBS option on Windows
     MESSAGE(STATUS "  BUILD_SHARED_LIBS =    ${BUILD_SHARED_LIBS}")