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/src/FlannIndex.cpp

@@ -123,6 +123,22 @@ std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) cons
 		if(bytes_written < long(indexData.size()-headerSizeBytes))
 		{
 			//Expected data size and type
+			//
+			// dataType is stored in the header as a raw cv::Mat type and
+			// compared against features.type() on load. That value is NOT
+			// stable across OpenCV major versions: OpenCV 5 changed
+			// CV_CN_SHIFT from 3 to 5, so a multi-channel type serializes to
+			// a different integer than under OpenCV 4 (see the encoding
+			// helpers in Compression.cpp, which normalize it for the data
+			// blobs stored in the database).
+			//
+			// It is safe here only because descriptors are always
+			// single-channel (asserted CV_32FC1 or CV_8UC1 in buildKDTreeIndex()
+			// and friends), and 1-channel types have the same value in both
+			// versions. A mismatch would only make loadIndex() refuse the
+			// index and rebuild it, never corrupt data -- but if descriptors
+			// ever become multi-channel, this field needs the same
+			// normalization as Compression.cpp.
 			int dataRows = 0;
 			int dataCols = 0;
 			int dataType = -1;
@@ -302,6 +318,7 @@ void FlannIndex::buildIndex(
 		break;
 	case FLANN_INDEX_LSH:
 		UASSERT(features.type() == CV_8UC1);
+		UASSERT_MSG(features.cols >= 8, "LSH requires a minimum of 8 dimensions to provide valid results.");
 		params = rtflann::LshIndexParams(12, 20, 2);
 		break;
 	default:
@@ -452,6 +469,10 @@ bool FlannIndex::loadIndex(
 		}
 		return false;
 	}
+	// Raw cv::Mat type comparison: safe only because descriptors are always
+	// single-channel, whose type value is identical under OpenCV 4 and 5
+	// (OpenCV 5 changed CV_CN_SHIFT, which only shifts multi-channel types).
+	// See the note where the header is written in serializeIndex().
 	if(savedType != features.type()) {
 		if(error) {
 			*error = uFormat("Serialized feature type (%d) doesn't match the expected one (%d).", savedType, features.type());
@@ -471,7 +492,7 @@ bool FlannIndex::loadIndex(
 	}
 	if(savedIndexSize != int(indexDataSize - headerSizeBytes)) {
 		if(error) {
-			*error = uFormat("Serialized flann index size (%ld) doesn't match the expected one (%ld).", savedIndexSize, indexDataSize - headerSizeBytes);
+			*error = uFormat("Serialized flann index size (%ld) doesn't match the expected one (%ld).", (long)savedIndexSize, indexDataSize - headerSizeBytes);
 		}
 		return false;
 	}
@@ -712,10 +733,11 @@ void FlannIndex::knnSearch(
 		UERROR("Flann index not yet created!");
 		return;
 	}
-	indices.create(query.rows, knn, sizeof(size_t)==8?CV_64F:CV_32S);
-	dists.create(query.rows, knn, featuresType_ == CV_8UC1?CV_32S:CV_32F);
 
-	rtflann::Matrix<size_t> indicesF((size_t*)indices.data, indices.rows, indices.cols);
+	dists = cv::Mat(query.rows, knn, featuresType_ == CV_8UC1?CV_32S:CV_32F, cv::Scalar(-1));
+
+	std::vector<size_t> indicesBuffer(query.rows * knn, std::numeric_limits<size_t>::max());
+	rtflann::Matrix<size_t> indicesF((size_t*)indicesBuffer.data(), query.rows, knn);
 
 	rtflann::SearchParams params = rtflann::SearchParams(checks, eps, sorted);
 
@@ -742,6 +764,14 @@ void FlannIndex::knnSearch(
 			((rtflann::Index<rtflann::L2<float> >*)index_)->knnSearch(queryF, indicesF, distsF, knn, params);
 		}
 	}
+
+	indices.create(query.rows, knn, CV_32S);
+	int * ptr = indices.ptr<int>();
+	for(size_t i=0 ; i<indicesBuffer.size(); i+=2)
+	{
+		ptr[i] = indicesBuffer[i] == std::numeric_limits<size_t>::max()?-1:(int)indicesBuffer[i];
+		ptr[i+1] = indicesBuffer[i+1] == std::numeric_limits<size_t>::max()?-1:(int)indicesBuffer[i+1];
+	}
 }
 
 void FlannIndex::radiusSearch(