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/RegistrationVis.cpp

@@ -328,8 +328,8 @@ Transform RegistrationVis::computeTransformationImpl(
 	UDEBUG("%s=%f", Parameters::kVisPnPReprojError().c_str(), _PnPReprojError);
 	UDEBUG("%s=%d", Parameters::kVisPnPFlags().c_str(), _PnPFlags);
 	UDEBUG("%s=%f", Parameters::kVisPnPMaxVariance().c_str(), _PnPMaxVar);
-	UDEBUG("%s=%f", Parameters::kVisPnPSplitLinearCovComponents().c_str(), _PnPSplitLinearCovarianceComponents);
-	UDEBUG("%s=%f", Parameters::kVisPnPVarianceMedianRatio().c_str(), _PnPVarMedianRatio);
+	UDEBUG("%s=%f", Parameters::kVisPnPSplitLinearCovComponents().c_str(), (double)_PnPSplitLinearCovarianceComponents);
+	UDEBUG("%s=%f", Parameters::kVisPnPVarianceMedianRatio().c_str(), (double)_PnPVarMedianRatio);
 	UDEBUG("%s=%d", Parameters::kVisCorType().c_str(), _correspondencesApproach);
 	UDEBUG("%s=%d", Parameters::kVisCorFlowWinSize().c_str(), _flowWinSize);
 	UDEBUG("%s=%d", Parameters::kVisCorFlowIterations().c_str(), _flowIterations);
@@ -915,15 +915,15 @@ Transform RegistrationVis::computeTransformationImpl(
 				{
 					UWARN("kptsFrom (%d) is not the same size as fromSignature.getWords3() (%d), there "
 						   "is maybe a problem with the logic above (getWords3() should be null or equal to kptsfrom). Regenerating kptsFrom3D...",
-						   kptsFrom.size(),
-						   fromSignature.getWords3().size());
+						   (int)kptsFrom.size(),
+						   (int)fromSignature.getWords3().size());
 				}
 				else if(fromSignature.sensorData().keypoints3D().size() && kptsFrom.size() != fromSignature.sensorData().keypoints3D().size())
 				{
 					UWARN("kptsFrom (%d) is not the same size as fromSignature.sensorData().keypoints3D() (%d), there "
 						   "is maybe a problem with the logic above (keypoints3D should be null or equal to kptsfrom). Regenerating kptsFrom3D...",
-						   kptsFrom.size(),
-						   fromSignature.sensorData().keypoints3D().size());
+						   (int)kptsFrom.size(),
+						   (int)fromSignature.sensorData().keypoints3D().size());
 				}
 				kptsFrom3D = _detectorFrom->generateKeypoints3D(fromSignature.sensorData(), kptsFrom);
 				UDEBUG("generated kptsFrom3D=%d", (int)kptsFrom3D.size());
@@ -1653,26 +1653,26 @@ Transform RegistrationVis::computeTransformationImpl(
 						else
 						{
 							msg = uFormat("Variance is too high! (Max %s=%f, variance=%f)", Parameters::kVisEpipolarGeometryVar().c_str(), _epipolarGeometryVar, variance);
-							UINFO(msg.c_str());
+							UINFO("%s", msg.c_str());
 						}
 					}
 					else
 					{
 						msg = uFormat("Not enough inliers %d < %d", (int)inliers3D.size(), _minInliers);
-						UINFO(msg.c_str());
+						UINFO("%s", msg.c_str());
 					}
 				}
 				else
 				{
 					msg = uFormat("No camera transform found");
-					UINFO(msg.c_str());
+					UINFO("%s", msg.c_str());
 				}
 			}
 			else 
 			{
 				msg = uFormat("No enough features < %s=%d (from=%d to=%d)", 
 					Parameters::kVisMinInliers().c_str(), _minInliers, (int)fromSignature.getWords().size(), (int)toSignature.getWords().size());
-				UWARN(msg.c_str());
+				UWARN("%s", msg.c_str());
 			}
 		}
 		else if(_estimationType == 1) // PnP
@@ -1684,7 +1684,7 @@ Transform RegistrationVis::computeTransformationImpl(
 				UERROR("Calibrated camera required. Id=%d Models=%d StereoModels=%d weight=%d",
 						toSignature.id(),
 						(int)toSignature.sensorData().cameraModels().size(),
-						toSignature.sensorData().stereoCameraModels().size(),
+						(int)toSignature.sensorData().stereoCameraModels().size(),
 						toSignature.getWeight());
 			}
 #ifndef RTABMAP_OPENGV
@@ -1803,7 +1803,7 @@ Transform RegistrationVis::computeTransformationImpl(
 					{
 						msg = uFormat("Not enough inliers %d/%d (matches=%d) between %d and %d",
 								(int)inliers.size(), _minInliers, (int)matches.size(), fromSignature.id(), toSignature.id());
-						UINFO(msg.c_str());
+						UINFO("%s", msg.c_str());
 					}
 					else if(this->force3DoF())
 					{
@@ -1814,7 +1814,7 @@ Transform RegistrationVis::computeTransformationImpl(
 				{
 					msg = uFormat("Not enough features in images (old=%d, new=%d, min=%d)",
 							(int)fromSignature.getWords3().size(), (int)toSignature.getWords().size(), _minInliers);
-					UINFO(msg.c_str());
+					UINFO("%s", msg.c_str());
 				}
 			}
 
@@ -1857,7 +1857,7 @@ Transform RegistrationVis::computeTransformationImpl(
 				{
 					msg = uFormat("Not enough inliers %d/%d (matches=%d) between %d and %d",
 							(int)inliers.size(), _minInliers, (int)matches.size(), fromSignature.id(), toSignature.id());
-					UINFO(msg.c_str());
+					UINFO("%s", msg.c_str());
 				}
 				else if(this->force3DoF())
 				{
@@ -1868,7 +1868,7 @@ Transform RegistrationVis::computeTransformationImpl(
 			{
 				msg = uFormat("Not enough 3D features in images (old=%d, new=%d, min=%d)",
 						(int)fromSignature.getWords3().size(), (int)toSignature.getWords3().size(), _minInliers);
-				UINFO(msg.c_str());
+				UINFO("%s", msg.c_str());
 			}
 		}
 
@@ -1882,7 +1882,10 @@ Transform RegistrationVis::computeTransformationImpl(
 			(toSignature.sensorData().stereoCameraModels().size() >= 1 || toSignature.sensorData().cameraModels().size() >= 1))
 		{
 			UDEBUG("Refine with bundle adjustment");
-			Optimizer * sba = Optimizer::create(_bundleAdjustment==3?Optimizer::kTypeCeres:_bundleAdjustment==2?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O, _bundleParameters);
+			// _bundleAdjustment matches the Optimizer/Strategy parameter 1:1
+			// (1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba); 0 was filtered out above.
+			Optimizer * sba = Optimizer::create(
+					static_cast<Optimizer::Type>(_bundleAdjustment), _bundleParameters);
 
 			std::map<int, Transform> poses;
 			std::multimap<int, Link> links;
@@ -2056,7 +2059,7 @@ Transform RegistrationVis::computeTransformationImpl(
 				if((int)inliers.size() < _minInliers)
 				{
 					msg = uFormat("Not enough inliers after bundle adjustment %d/%d (matches=%d) between %d and %d",
-							(int)inliers.size(), _minInliers, (int)inliers.size()+sbaOutliers.size(), fromSignature.id(), toSignature.id());
+							(int)inliers.size(), _minInliers, (int)((int)inliers.size()+sbaOutliers.size()), fromSignature.id(), toSignature.id());
 					transform.setNull();
 				}
 				else
@@ -2165,7 +2168,7 @@ Transform RegistrationVis::computeTransformationImpl(
 
 				if(info.inliersMeanDistance > _maxInliersMeanDistance)
 				{
-					msg = uFormat("The mean distance of the inliers is over %s threshold (%f)",
+					msg = uFormat("The mean distance of the inliers (%f) is over %s threshold (%f)",
 							info.inliersMeanDistance, Parameters::kVisMeanInliersDistance().c_str(), _maxInliersMeanDistance);
 					transform.setNull();
 				}