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)

corelib/include/rtabmap/core/Compression.h

@@ -37,29 +37,51 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 namespace rtabmap {
 
 /**
- * Compress image or data
+ * @class CompressionThread
+ * @brief Background thread to compress or uncompress images and generic matrices.
+ *
+ * In compress mode, pass a source matrix to the constructor with an optional image
+ * format (".png", ".jpg", ".rvl", or empty for zlib data). In uncompress mode, pass
+ * compressed bytes and set @c isImage accordingly. Call @ref UThread::start() then
+ * @ref UThread::join() to obtain the result from @ref getCompressedData() or
+ * @ref getUncompressedData().
  *
  * Example compression:
- *   cv::Mat image;// an image
- *   CompressionThread ct(image);
- *   ct.start();
- *   ct.join();
- *   std::vector<unsigned char> bytes = ct.getCompressedData();
+ * @code
+ * cv::Mat image;
+ * CompressionThread ct(image, ".png");
+ * ct.start();
+ * ct.join();
+ * cv::Mat bytes = ct.getCompressedData();
+ * @endcode
  *
- * Example uncompression
- *   std::vector<unsigned char> bytes;// a compressed image
- *   CompressionThread ct(bytes);
- *   ct.start();
- *   ct.join();
- *   cv::Mat image = ct.getUncompressedData();
+ * Example uncompression:
+ * @code
+ * cv::Mat bytes;
+ * CompressionThread ct(bytes, true);
+ * ct.start();
+ * ct.join();
+ * cv::Mat image = ct.getUncompressedData();
+ * @endcode
  */
 class RTABMAP_CORE_EXPORT CompressionThread : public UThread
 {
 public:
-	// format : ".png" ".jpg" "" (empty is general)
+	/**
+	 * @brief Constructs a thread in compress mode.
+	 * @param mat Source image or data matrix to compress.
+	 * @param format Image format: @c ".png", @c ".jpg", @c ".rvl", or empty for zlib (@ref compressData2).
+	 */
 	CompressionThread(const cv::Mat & mat, const std::string & format = "");
+	/**
+	 * @brief Constructs a thread in uncompress mode.
+	 * @param bytes Compressed bytes (@c CV_8UC1).
+	 * @param isImage If true, decode as image; otherwise decode as zlib data.
+	 */
 	CompressionThread(const cv::Mat & bytes, bool isImage);
+	/** @return Compressed output (@c CV_8UC1), valid after compress mode completes. */
 	const cv::Mat & getCompressedData() const {return compressedData_;}
+	/** @return Uncompressed output, valid after uncompress mode completes. */
 	cv::Mat & getUncompressedData() {return uncompressedData_;}
 protected:
 	virtual void mainLoop();
@@ -71,24 +93,41 @@ private:
 	bool compressMode_;
 };
 
+/** @brief Encodes @p image to a byte buffer (OpenCV @c imencode or RVL for depth). */
 std::vector<unsigned char> RTABMAP_CORE_EXPORT compressImage(const cv::Mat & image, const std::string & format = ".png");
+/** @brief Same as @ref compressImage() but returns a @c CV_8UC1 row matrix. */
 cv::Mat RTABMAP_CORE_EXPORT compressImage2(const cv::Mat & image, const std::string & format = ".png");
 
+/** @brief Decodes compressed image bytes to a @cv::Mat. */
 cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const cv::Mat & bytes);
+/** @brief Decodes compressed image bytes to a @cv::Mat. */
 cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const std::vector<unsigned char> & bytes);
 
+/** @brief Compresses a matrix with zlib; appends rows, cols and type at the end. */
 std::vector<unsigned char> RTABMAP_CORE_EXPORT compressData(const cv::Mat & data);
+/** @brief Same as @ref compressData() but returns a @c CV_8UC1 row matrix. */
 cv::Mat RTABMAP_CORE_EXPORT compressData2(const cv::Mat & data);
 
+/** @brief Restores a matrix compressed with @ref compressData() or @ref compressData2(). */
 cv::Mat RTABMAP_CORE_EXPORT uncompressData(const cv::Mat & bytes);
+/** @brief Restores a matrix compressed with @ref compressData() or @ref compressData2(). */
 cv::Mat RTABMAP_CORE_EXPORT uncompressData(const std::vector<unsigned char> & bytes);
+/** @brief Restores a matrix from a raw compressed buffer. */
 cv::Mat RTABMAP_CORE_EXPORT uncompressData(const unsigned char * bytes, unsigned long size);
 
+/** @brief Compresses a null-terminated string using @ref compressData2(). */
 cv::Mat RTABMAP_CORE_EXPORT compressString(const std::string & str);
+/** @brief Decompresses a string produced by @ref compressString(). */
 std::string RTABMAP_CORE_EXPORT uncompressString(const cv::Mat & bytes);
 
+/**
+ * @brief Detects the compression format of depth image bytes.
+ * @return @c ".rvl" if the buffer has an RVL signature, otherwise @c ".png".
+ */
 std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const cv::Mat & bytes);
+/** @overload */
 std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const std::vector<unsigned char> & bytes);
+/** @overload */
 std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const unsigned char * bytes, size_t size);
 
 } /* namespace rtabmap */