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/util3d_mapping.cpp

@@ -587,7 +587,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
 		float minMapSize,
 		float scanMaxRange)
 {
-	UDEBUG("poses=%d, scans = %d scanMaxRange=%f", poses.size(), scans.size(), scanMaxRange);
+	UDEBUG("poses=%d, scans = %d scanMaxRange=%f", (int)poses.size(), (int)scans.size(), scanMaxRange);
 
 	// local scans contain end points of each ray in map frame (pose+localTransform)
 	std::map<int, std::pair<cv::Mat, cv::Mat> > localScans;
@@ -818,18 +818,29 @@ void rayTrace(const cv::Point2i & start, const cv::Point2i & end, cv::Mat & grid
 	ptA = start;
 	ptB = end;
 
-	float slope = float(ptB.y - ptA.y)/float(ptB.x - ptA.x);
-
 	// clip end point
 	ptB.x = std::min(std::max(ptB.x, 0), grid.cols-1);
 	ptB.y = std::min(std::max(ptB.y, 0), grid.rows-1);
 
+	if(ptA == ptB) {
+		signed char * v = &grid.at<signed char>(ptA.y, ptA.x);
+		if(*v == 100 && stopOnObstacle)
+		{
+			return;
+		}
+		else
+		{
+			*v = 0; // free space
+		}
+		return;
+	}
+
+	float slope = ptB.x - ptA.x != 0 ? float(ptB.y - ptA.y)/float(ptB.x - ptA.x) : std::numeric_limits<float>::quiet_NaN();
+
 	bool swapped = false;
-	if(slope<-1.0f || slope>1.0f)
+	if(!uIsFinite(slope) || slope<-1.0f || slope>1.0f)
 	{
 		// swap x and y
-		slope = 1.0f/slope;
-
 		int tmp = ptA.x;
 		ptA.x = ptA.y;
 		ptA.y = tmp;
@@ -838,6 +849,13 @@ void rayTrace(const cv::Point2i & start, const cv::Point2i & end, cv::Mat & grid
 		ptB.x = ptB.y;
 		ptB.y = tmp;
 
+		if(!uIsFinite(slope)) {
+			slope = 0.0f;
+		}
+		else {
+			slope = 1.0f/slope;
+		}
+
 		swapped = true;
 	}
 
@@ -860,13 +878,13 @@ void rayTrace(const cv::Point2i & start, const cv::Point2i & end, cv::Mat & grid
 
 		if(!swapped)
 		{
-			UASSERT_MSG(lowerbound >= 0 && lowerbound < grid.rows, uFormat("lowerbound=%f grid.rows=%d x=%d slope=%f b=%f x=%f", lowerbound, grid.rows, x, slope, b, x).c_str());
-			UASSERT_MSG(upperbound >= 0 && upperbound < grid.rows, uFormat("upperbound=%f grid.rows=%d x+1=%d slope=%f b=%f x=%f", upperbound, grid.rows, x+1, slope, b, x).c_str());
+			UASSERT_MSG(lowerbound >= 0 && lowerbound < grid.rows, uFormat("lowerbound=%d upperbound=%d grid.rows=%d x=%d slope=%f b=%f", lowerbound, upperbound, grid.rows, x, slope, b).c_str());
+			UASSERT_MSG(upperbound >= 0 && upperbound < grid.rows, uFormat("lowerbound=%d upperbound=%d grid.rows=%d x+1=%d slope=%f b=%f", lowerbound, upperbound, grid.rows, x+1, slope, b).c_str());
 		}
 		else
 		{
-			UASSERT_MSG(lowerbound >= 0 && lowerbound < grid.cols, uFormat("lowerbound=%f grid.cols=%d x=%d slope=%f b=%f x=%f", lowerbound, grid.cols, x, slope, b, x).c_str());
-			UASSERT_MSG(upperbound >= 0 && upperbound < grid.cols, uFormat("upperbound=%f grid.cols=%d x+1=%d slope=%f b=%f x=%f", upperbound, grid.cols, x+1, slope, b, x).c_str());
+			UASSERT_MSG(lowerbound >= 0 && lowerbound < grid.cols, uFormat("lowerbound=%d upperbound=%d grid.cols=%d x=%d slope=%f b=%f", lowerbound, upperbound, grid.cols, x, slope, b).c_str());
+			UASSERT_MSG(upperbound >= 0 && upperbound < grid.cols, uFormat("lowerbound=%d upperbound=%d grid.cols=%d x+1=%d slope=%f b=%f", lowerbound, upperbound, grid.cols, x+1, slope, b).c_str());
 		}
 
 		for(int y = lowerbound; y<=(int)upperbound; ++y)
@@ -989,9 +1007,9 @@ cv::Mat erodeMap(const cv::Mat & map)
 {
 	UASSERT(map.type() == CV_8SC1);
 	cv::Mat erodedMap = map.clone();
-	for(int i=0; i<map.rows; ++i)
+	for(int i=1; i<map.rows-1; ++i)
 	{
-		for(int j=0; j<map.cols; ++j)
+		for(int j=1; j<map.cols-1; ++j)
 		{
 			if(map.at<signed char>(i, j) == 100)
 			{