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/Memory.cpp

@@ -164,7 +164,7 @@ Memory::Memory(const ParametersMap & parameters) :
 	if(corRatio >= 0.5)
 	{
 		UWARN(	"%s is >=0.5, which sets correspondence ratio for proximity detection using "
-			"laser scans to 100% (2 x Ratio). You may lower the ratio to accept proximity "
+			"laser scans to 100%% (2 x Ratio). You may lower the ratio to accept proximity "
 			"detection with not full scans overlapping.", Parameters::kIcpCorrespondenceRatio().c_str());
 	}
 	_registrationIcpMulti = new RegistrationIcp(paramsMulti);
@@ -444,6 +444,10 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 			else
 			{
 				_dbDriver->load(*_vwd, false, _dummyDictionary);
+				if(_dummyDictionary && _vwd->getVisualWords().empty())
+				{
+					_dummyDictionary = false;
+				}
 			}
 		}
 		else
@@ -451,6 +455,10 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 			UDEBUG("load words");
 			// load the last dictionary
 			_dbDriver->load(*_vwd, _vwd->isIncremental(), _dummyDictionary);
+			if(_dummyDictionary && _vwd->getVisualWords().empty())
+			{
+				_dummyDictionary = false;
+			}
 		}
 		UDEBUG("%d words loaded! (type=%s, dim=%d)",
 			_vwd->getUnusedWordsSize(),
@@ -977,7 +985,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
 			if(corRatio >= 0.5)
 			{
 				UWARN(	"%s is >=0.5, which sets correspondence ratio for proximity detection using "
-					"laser scans to 100% (2 x Ratio). You may lower the ratio to accept proximity "
+					"laser scans to 100%% (2 x Ratio). You may lower the ratio to accept proximity "
 					"detection with not full scans overlapping.", Parameters::kIcpCorrespondenceRatio().c_str());
 			}
 			_registrationIcpMulti->parseParameters(paramsMulti);
@@ -1330,7 +1338,7 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
 		}
 		++_signaturesAdded;
 
-		UDEBUG("%d words ref for the signature %d (weight=%d)", signature->getWords().size(), signature->id(), signature->getWeight());
+		UDEBUG("%d words ref for the signature %d (weight=%d)", (int)signature->getWords().size(), signature->id(), signature->getWeight());
 		if(signature->getWords().size())
 		{
 			signature->setEnabled(true);
@@ -2133,7 +2141,7 @@ void Memory::clear()
 	}
 	if(_stMem.size() != 0)
 	{
-		ULOGGER_ERROR("_stMem must be empty here, size=%d", _stMem.size());
+		ULOGGER_ERROR("_stMem must be empty here, size=%d", (int)_stMem.size());
 	}
 	_stMem.clear();
 	_stMemIntermediateNodesCount = 0;
@@ -2161,7 +2169,7 @@ void Memory::clear()
 		// this is only a safe check...not supposed to occur.
 		UASSERT_MSG(memSize == _signatures.size(),
 				uFormat("The number of signatures don't match! _workingMem=%d, _stMem=%d, _signatures=%d",
-						workingMemSize, _stMem.size(), _signatures.size()).c_str());
+						(int)workingMemSize, (int)_stMem.size(), (int)_signatures.size()).c_str());
 
 		UDEBUG("Adding statistics after run...");
 		if(_memoryChanged)
@@ -2205,13 +2213,13 @@ void Memory::clear()
 
 	if(_workingMem.size() != 0 && !(_workingMem.size() == 1 && _workingMem.begin()->first == kIdVirtual))
 	{
-		ULOGGER_ERROR("_workingMem must be empty here, size=%d", _workingMem.size());
+		ULOGGER_ERROR("_workingMem must be empty here, size=%d", (int)_workingMem.size());
 	}
 	_workingMem.clear();
 	_workingMemIntermediateNodesCount = 0;
 	if(_signatures.size()!=0)
 	{
-		ULOGGER_ERROR("_signatures must be empty here, size=%d", _signatures.size());
+		ULOGGER_ERROR("_signatures must be empty here, size=%d", (int)_signatures.size());
 	}
 	_signatures.clear();
 
@@ -2607,10 +2615,16 @@ std::map<int, Transform> Memory::loadOptimizedPoses(Transform * lastlocalization
 
 void Memory::save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const
 {
-	if(_dbDriver)
+	if(_dbDriver && !this->isReadOnly())
 	{
 		_dbDriver->save2DMap(map, xMin, yMin, cellSize);
 	}
+	else
+	{
+		UERROR("Attempting to write back 2D map but the database "
+			"is opened in read-only mode (%s=true), skipping.",
+			Parameters::kMemLocalizationReadOnly().c_str());
+	}
 }
 
 cv::Mat Memory::load2DMap(float & xMin, float & yMin, float & cellSize) const
@@ -2701,7 +2715,9 @@ public:
 		}
 		return false;
 	}
-	int weight, age, id;
+	int weight;
+	double age;
+	int id;
 };
 
 std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<int> & ignoredIds)
@@ -3173,7 +3189,7 @@ bool Memory::setUserData(int id, const cv::Mat & data)
 	}
 	else
 	{
-		UERROR("Node %d not found in RAM, failed to set user data (size=%d)!", id, data.total());
+		UERROR("Node %d not found in RAM, failed to set user data (size=%d)!", id, (int)data.total());
 	}
 	return false;
 }
@@ -3362,7 +3378,7 @@ Transform Memory::computeTransform(
 		{
 			info->rejectedMsg = msg;
 		}
-		UWARN(msg.c_str());
+		UWARN("%s", msg.c_str());
 	}
 	return transform;
 }
@@ -3741,7 +3757,7 @@ Transform Memory::computeTransform(
 		{
 			info->rejectedMsg = msg;
 		}
-		UWARN(msg.c_str());
+		UWARN("%s", msg.c_str());
 	}
 	return transform;
 }
@@ -5118,7 +5134,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 
 	if(this->getSignatures().empty() && isIntermediateNode)
 	{
-		UWARN("Ignoring input data with stamp %s because the first node in memory cannot be an intermediate node.", inputData.stamp());
+		UWARN("Ignoring input data with stamp %f because the first node in memory cannot be an intermediate node.", inputData.stamp());
 		return 0;
 	}
 
@@ -5409,7 +5425,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 				      "with the first camera (rgb=%dx%d, depth=%dx%d). Aborting upside up rotation, "
 					  "will use original image orientation. Set parameter %s to false to avoid "
 					  "this warning.",
-						i,
+						(int)i,
 						rgb.cols, rgb.rows,
 						depth.cols, depth.rows,
 						subOutputImageWidth, rotatedColorImages.rows,
@@ -6236,7 +6252,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 						{
 							// Bearing/Range in 2D, set X as bearing and Y as range (see OptimizerGTSAM)
 							covariance(cv::Range(0,1), cv::Range(0,1)) *= _markerAngVariance;
-							covariance(cv::Range(1,3), cv::Range(1,3)) *= _markerLinVariance;
+							covariance(cv::Range(1,2), cv::Range(1,2)) *= _markerLinVariance;
 						}
 						else
 						{
@@ -6987,7 +7003,7 @@ void Memory::disableWordsRef(int signatureId)
 void Memory::cleanUnusedWords()
 {
 	std::vector<VisualWord*> removedWords = _vwd->getUnusedWords();
-	UDEBUG("Removing %d words (dictionary size=%d)...", removedWords.size(), _vwd->getVisualWords().size());
+	UDEBUG("Removing %d words (dictionary size=%d)...", (int)removedWords.size(), (int)_vwd->getVisualWords().size());
 	if(removedWords.size())
 	{
 		// remove them from the dictionary
@@ -7009,7 +7025,7 @@ void Memory::cleanUnusedWords()
 
 void Memory::enableWordsRef(const std::list<int> & signatureIds)
 {
-	UDEBUG("size=%d", signatureIds.size());
+	UDEBUG("size=%d", (int)signatureIds.size());
 	UTimer timer;
 	timer.start();
 
@@ -7041,7 +7057,7 @@ void Memory::enableWordsRef(const std::list<int> & signatureIds)
 		UWARN("Dictionary is fixed, but some words retrieved have not been found!?");
 	}
 
-	UDEBUG("oldWordIds.size()=%d, getOldIds time=%fs", oldWordIds.size(), timer.ticks());
+	UDEBUG("oldWordIds.size()=%d, getOldIds time=%fs", (int)oldWordIds.size(), timer.ticks());
 
 	// the words were deleted, so try to match it with an active word
 	std::list<VisualWord *> vws;
@@ -7050,14 +7066,14 @@ void Memory::enableWordsRef(const std::list<int> & signatureIds)
 		// get the descriptors
 		_dbDriver->loadWords(oldWordIds, vws);
 	}
-	UDEBUG("loading words(%d) time=%fs", oldWordIds.size(), timer.ticks());
+	UDEBUG("loading words(%d) time=%fs", (int)oldWordIds.size(), timer.ticks());
 
 
 	if(vws.size())
 	{
 		//Search in the dictionary
 		std::vector<int> vwActiveIds = _vwd->findNN(vws);
-		UDEBUG("find active ids (number=%d) time=%fs", vws.size(), timer.ticks());
+		UDEBUG("find active ids (number=%d) time=%fs", (int)vws.size(), timer.ticks());
 		int i=0;
 		for(std::list<VisualWord *>::iterator iterVws=vws.begin(); iterVws!=vws.end(); ++iterVws)
 		{
@@ -7081,7 +7097,7 @@ void Memory::enableWordsRef(const std::list<int> & signatureIds)
 			}
 			++i;
 		}
-		UDEBUG("Added %d to dictionary, time=%fs", vws.size()-refsToChange.size(), timer.ticks());
+		UDEBUG("Added %d to dictionary, time=%fs", (int)(vws.size()-refsToChange.size()), timer.ticks());
 
 		//update the global references map and update the signatures reactivated
 		for(std::map<int, int>::const_iterator iter=refsToChange.begin(); iter != refsToChange.end(); ++iter)
@@ -7092,7 +7108,7 @@ void Memory::enableWordsRef(const std::list<int> & signatureIds)
 				(*j)->changeWordsRef(iter->first, iter->second);
 			}
 		}
-		UDEBUG("changing ref, total=%d, time=%fs", refsToChange.size(), timer.ticks());
+		UDEBUG("changing ref, total=%d, time=%fs", (int)refsToChange.size(), timer.ticks());
 	}
 
 	int count = _vwd->getTotalActiveReferences();
@@ -7119,7 +7135,7 @@ void Memory::enableWordsRef(const std::list<int> & signatureIds)
 	}
 
 	count = _vwd->getTotalActiveReferences() - count;
-	UDEBUG("%d words total ref added from %d signatures, time=%fs...", count, surfSigns.size(), timer.ticks());
+	UDEBUG("%d words total ref added from %d signatures, time=%fs...", count, (int)surfSigns.size(), timer.ticks());
 }
 
 std::set<int> Memory::reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess)