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/SensorData.cpp

@@ -36,6 +36,23 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 namespace rtabmap
 {
 
+namespace {
+bool isOccupancyGridLayerFormatSupported(const cv::Mat & layer)
+{
+	if(layer.empty())
+	{
+		return true;
+	}
+	return layer.type() == CV_32FC2 ||
+			layer.type() == CV_32FC3 ||
+			layer.type() == CV_32FC(4) ||
+			layer.type() == CV_32FC(5) ||
+			layer.type() == CV_32FC(6) ||
+			layer.type() == CV_32FC(7) ||
+			(layer.type() == CV_8UC1 && layer.rows == 1);
+}
+} // namespace
+
 // empty constructor
 SensorData::SensorData() :
 		_id(0),
@@ -89,6 +106,23 @@ SensorData::SensorData(
 	setUserData(userData);
 }
 
+// RGB-D constructor + Depth confidence
+SensorData::SensorData(
+		const cv::Mat & rgb,
+		const cv::Mat & depth,
+		const cv::Mat & depth_confidence,
+		const CameraModel & cameraModel,
+		int id,
+		double stamp,
+		const cv::Mat & userData) :
+		_id(id),
+		_stamp(stamp),
+		_cellSize(0.0f)
+{
+	setRGBDImage(rgb, depth, depth_confidence, cameraModel);
+	setUserData(userData);
+}
+
 // RGB-D constructor + laser scan
 SensorData::SensorData(
 		const LaserScan & laserScan,
@@ -553,7 +587,7 @@ void SensorData::setOccupancyGrid(
 	   (!obstacles.empty() && (!_obstacleCellsCompressed.empty() || !_obstacleCellsRaw.empty())) ||
 	   (!empty.empty() && (!_emptyCellsCompressed.empty() || !_emptyCellsRaw.empty())))
 	{
-		UWARN("Occupancy grid cannot be overwritten! id=%d, Set occupancy grid of %d to null "
+		UWARN("Occupancy grid cannot be overwritten! Set occupancy grid of %d to null "
 			  "before setting a new one.", this->id());
 		return;
 	}
@@ -565,6 +599,19 @@ void SensorData::setOccupancyGrid(
 	_emptyCellsRaw = cv::Mat();
 	_emptyCellsCompressed = cv::Mat();
 
+	if(!ground.empty() && !isOccupancyGridLayerFormatSupported(ground))
+	{
+		UFATAL("Unsupported local occupancy grid format for ground cells: OpenCV type=%d size=%dx%d", ground.type(), ground.cols, ground.rows);
+	}
+	if(!obstacles.empty() && !isOccupancyGridLayerFormatSupported(obstacles))
+	{
+		UFATAL("Unsupported local occupancy grid format for obstacle cells: OpenCV type=%d size=%dx%d", obstacles.type(), obstacles.cols, obstacles.rows);
+	}
+	if(!empty.empty() && !isOccupancyGridLayerFormatSupported(empty))
+	{
+		UFATAL("Unsupported local occupancy grid format for empty cells: OpenCV type=%d size=%dx%d", empty.type(), empty.cols, empty.rows);
+	}
+
 	CompressionThread ctGround(ground);
 	CompressionThread ctObstacles(obstacles);
 	CompressionThread ctEmpty(empty);
@@ -576,7 +623,7 @@ void SensorData::setOccupancyGrid(
 			_groundCellsRaw = ground;
 			ctGround.start();
 		}
-		else if(ground.type() == CV_8UC1)
+		else // CV_8UC1 && rows == 1
 		{
 			_groundCellsCompressed = ground;
 		}
@@ -588,7 +635,7 @@ void SensorData::setOccupancyGrid(
 			_obstacleCellsRaw = obstacles;
 			ctObstacles.start();
 		}
-		else if(obstacles.type() == CV_8UC1)
+		else // CV_8UC1 && rows == 1
 		{
 			_obstacleCellsCompressed = obstacles;
 		}
@@ -600,7 +647,7 @@ void SensorData::setOccupancyGrid(
 			_emptyCellsRaw = empty;
 			ctEmpty.start();
 		}
-		else if(empty.type() == CV_8UC1)
+		else // CV_8UC1 && rows == 1
 		{
 			_emptyCellsCompressed = empty;
 		}
@@ -1060,7 +1107,7 @@ void SensorData::clearRawData(bool images, bool scan, bool userData, bool occupa
 }
 
 
-bool SensorData::isPointVisibleFromCameras(const cv::Point3f & pt) const
+int SensorData::isPointVisibleFromCameras(const cv::Point3f & pt) const
 {
 	if(_cameraModels.size() >= 1)
 	{
@@ -1071,13 +1118,12 @@ bool SensorData::isPointVisibleFromCameras(const cv::Point3f & pt) const
 				cv::Point3f ptInCameraFrame = util3d::transformPoint(pt, _cameraModels[i].localTransform().inverse());
 				if(ptInCameraFrame.z > 0.0f)
 				{
-					int borderWidth = int(float(_cameraModels[i].imageWidth())* 0.2);
 					int u, v;
 					_cameraModels[i].reproject(ptInCameraFrame.x, ptInCameraFrame.y, ptInCameraFrame.z, u, v);
-					if(uIsInBounds(u, borderWidth, _cameraModels[i].imageWidth()-2*borderWidth) &&
-					   uIsInBounds(v, borderWidth, _cameraModels[i].imageHeight()-2*borderWidth))
+					if(uIsInBounds(u, 0, _cameraModels[i].imageWidth()) &&
+					   uIsInBounds(v, 0, _cameraModels[i].imageHeight()))
 					{
-						return true;
+						return i;
 					}
 				}
 			}
@@ -1097,7 +1143,7 @@ bool SensorData::isPointVisibleFromCameras(const cv::Point3f & pt) const
 					if(uIsInBounds(u, 0, _stereoCameraModels[i].left().imageWidth()) &&
 					   uIsInBounds(v, 0, _stereoCameraModels[i].left().imageHeight()))
 					{
-						return true;
+						return i;
 					}
 				}
 			}
@@ -1107,7 +1153,7 @@ bool SensorData::isPointVisibleFromCameras(const cv::Point3f & pt) const
 	{
 		UERROR("no valid camera model!");
 	}
-	return false;
+	return -1;
 }
 
 } // namespace rtabmap