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Adding doc and tests (#1492)

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* 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)
This commit is contained in:
matlabbe
2026-08-06 13:32:20 -07:00
committed by GitHub
parent bcdb4b4546
commit ee49beaf4f
309 changed files with 67469 additions and 3070 deletions
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154
corelib/test/CMakeLists.txt Normal file
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add_definitions("-DRTABMAP_TEST_DATA_ROOT=\"${TEST_DATA_ROOT}\"")
# ---------------------------------------------------------------------------
# One executable for the corelib unit tests, source files kept split.
#
# Every test binary that links rtabmap_core pulls in ~344 shared libraries
# (PCL, VTK, OpenCV, Qt, g2o, GTSAM, Ceres, octomap, the camera SDKs...), and
# each ctest entry is a separate process that pays that load cost again. The
# load dominates: test_util3d_transforms does ~10 ms of actual work, yet it
# reported 12.7 s on the macOS runners, where dyld has no shared cache for
# non-system dylibs and validates each one's signature per process. Roughly
# 590 s of a 2150 s macOS run was process startup.
#
# gtest registers tests through static initializers and gtest_main supplies
# main(), so the sources combine into one target with no source changes.
# ---------------------------------------------------------------------------
set(corelib_test_sources
test_util2d.cpp #util2d.h
test_util3d.cpp #util3d.h
test_util3d_transforms.cpp #util3d_transforms.h
test_util3d_filtering.cpp #util3d_filtering.h
test_util3d_registration.cpp #util3d_registration.h
test_util3d_features.cpp #util3d_features.h
test_util3d_correspondences.cpp #util3d_correspondences.h
test_util3d_mapping.cpp #util3d_mapping.h
test_util3d_motion_estimation.cpp #util3d_motion_estimation.h
test_util3d_surface.cpp #util3d_surface.h
test_visualword.cpp #VisualWord.h
test_vwdictionary.cpp #VWDictionary.h
test_transform.cpp #Transform.h
test_stereo_dense.cpp #StereoDense.h (BM and SGBM strategies)
test_stereo.cpp #Stereo.h (BlockMatching and OpticalFlow)
test_cameramodel.cpp #CameraModel.h
test_stereocameramodel.cpp #StereoCameraModel.h
test_statistics.cpp #Statistics.h
test_bayesfilter.cpp #BayesFilter.h
test_memory.cpp #Memory.h
test_markerdetector.cpp #MarkerDetector.h
test_rtabmap.cpp #Rtabmap.h
test_link.cpp #Link.h
test_optimizer.cpp #Optimizer.h
test_gps.cpp #GPS.h
test_imu.cpp #IMU.h
test_imufilter.cpp #IMUFilter.h
test_imuthread.cpp #IMUThread.h
test_landmark.cpp #Landmark.h
test_localgrid.cpp #LocalGrid.h
test_features2d.cpp #Features2d.h
test_globalmap.cpp #GlobalMap.h
test_registration.cpp #Registration.h
test_registrationvis.cpp #RegistrationVis.h
test_registrationicp.cpp #RegistrationIcp.h
test_localgridmaker.cpp #LocalGridMaker.h
test_graph.cpp #Graph.h
test_geodeticcoords.cpp #GeodeticCoords.h
test_compression.cpp #Compression.h
test_odometry.cpp #Odometry.h
test_dbdriver.cpp #DBDriver.h
test_dbdriversqlite3.cpp #DBDriverSqlite3.h
test_signature.cpp #Signature.h
test_sensorevent.cpp #SensorEvent.h
test_sensordata.cpp #SensorData.h
test_sensorcapture.cpp #SensorCapture.h
test_sensorcaptureinfo.cpp #SensorCaptureInfo.h
test_sensorcapturethread.cpp #SensorCaptureThread.h
)
add_executable(test_corelib ${corelib_test_sources})
target_link_libraries(test_corelib gtest_main rtabmap_core)
# test_registrationicp.cpp includes corelib/src/icp/libpointmatcher.h directly
# to test the LaserScan <-> DataPoints conversions, so it needs the library
# itself (rtabmap_core links it PRIVATE and only re-exports its include dirs).
IF(libpointmatcher_FOUND)
target_link_libraries(test_corelib ${libpointmatcher_LIBRARIES})
ENDIF(libpointmatcher_FOUND)
# Split the run across processes so `ctest -j` still overlaps work, paying the
# library load N times instead of once per source file. gtest partitions by
# test index via these two env vars; the shards are disjoint and together
# cover every test. TIMEOUT is set explicitly because a shard holds hundreds
# of tests and the TIMEOUT property has to win over the CI jobs' `ctest
# --timeout 300`, which was sized for one-test-per-process.
set(CORELIB_TEST_SHARDS 4 CACHE STRING
"Number of processes the corelib unit tests are split across")
math(EXPR _corelib_last_shard "${CORELIB_TEST_SHARDS} - 1")
foreach(shard RANGE 0 ${_corelib_last_shard})
add_test(NAME test_corelib_${shard} COMMAND test_corelib)
set_tests_properties(test_corelib_${shard} PROPERTIES
TIMEOUT 900
ENVIRONMENT "GTEST_TOTAL_SHARDS=${CORELIB_TEST_SHARDS};GTEST_SHARD_INDEX=${shard}")
endforeach()
# Rtabmap end-to-end replay of sample DBs (test data fetched by
# scripts/fetch_test_data.sh into data/tests/*.db). Skips at runtime if the
# assets are absent, so the build stays green for contributors without them.
#
# Deliberately its own executable rather than part of test_corelib: it is the
# one long test (>20 min), it needs its own timeout and "long" label, and a
# crash in it stays contained instead of taking a shard of unit tests with it.
add_executable(test_rtabmap_integration test_rtabmap_integration.cpp)
target_link_libraries(test_rtabmap_integration gtest_main rtabmap_core)
# Labelled "long" so CI PR jobs can opt out via:
# `ctest -LE long`
# while nightlies run:
# `ctest -L long`.
add_test(NAME test_rtabmap_integration COMMAND test_rtabmap_integration)
set_tests_properties(test_rtabmap_integration PROPERTIES
TIMEOUT 1800
LABELS "long")
#PythonInterface / PyDetector / PyDescriptor / PyMatcher (optional Python
# support; bridges to Python feature detectors (SuperPoint), global
# descriptors (NetVLAD), and matchers (SuperGlue). Tests use numpy-only stub
# scripts so no ML weights or extra packages are needed beyond what
# WITH_PYTHON already pulls in.
#
# Kept out of test_corelib: these embed a Python interpreter, and
# Py_Initialize/Py_Finalize in a process that also runs hundreds of unrelated
# tests is a needless interaction. They also need their own link/include sets.
IF(WITH_PYTHON AND Python3_FOUND)
# Direct tests for PythonInterface / getPythonTraceback. Links pybind11
# and Python headers so the test can drive the Python C API directly.
add_executable(test_python_interface test_python_interface.cpp)
target_link_libraries(test_python_interface gtest_main rtabmap_core pybind11::embed)
target_include_directories(test_python_interface PRIVATE ${Python3_INCLUDE_DIRS})
add_test(NAME test_python_interface COMMAND test_python_interface)
add_executable(test_pydetector test_pydetector.cpp)
target_link_libraries(test_pydetector gtest_main rtabmap_core)
add_test(NAME test_pydetector COMMAND test_pydetector)
add_executable(test_pydescriptor test_pydescriptor.cpp)
target_link_libraries(test_pydescriptor gtest_main rtabmap_core)
add_test(NAME test_pydescriptor COMMAND test_pydescriptor)
# PyMatcher's header is internal (not in the public include tree);
# expose corelib/src so the test can `#include "python/PyMatcher.h"`.
add_executable(test_pymatcher test_pymatcher.cpp)
target_link_libraries(test_pymatcher gtest_main rtabmap_core)
target_include_directories(test_pymatcher PRIVATE
${CMAKE_SOURCE_DIR}/corelib/src)
add_test(NAME test_pymatcher COMMAND test_pymatcher)
ENDIF(WITH_PYTHON AND Python3_FOUND)
#LASWriter.h (optional libLAS -- own target for the extra link/include set)
IF(libLAS_FOUND)
add_executable(test_laswriter test_laswriter.cpp)
target_link_libraries(test_laswriter gtest_main rtabmap_core ${libLAS_LIBRARIES})
target_include_directories(test_laswriter PRIVATE ${libLAS_INCLUDE_DIRS})
add_test(NAME test_laswriter COMMAND test_laswriter)
ENDIF(libLAS_FOUND)