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)

coverage-report.sh

@@ -0,0 +1,148 @@
+#!/usr/bin/env bash
+# Generate an HTML coverage report at coverage-html/index.html
+# Run from anywhere; defaults: build dir = build-coverage, output = coverage-html/
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+BUILD_DIR="${COVERAGE_BUILD_DIR:-$ROOT/build-coverage}"
+HTML_DIR="${COVERAGE_HTML_DIR:-$ROOT/coverage-html}"
+INFO_FILE="${COVERAGE_INFO_FILE:-$ROOT/lcov.info}"
+JOBS="${JOBS:-$(nproc)}"
+
+need_cmd() {
+	command -v "$1" >/dev/null 2>&1 || {
+		echo "Error: required command not found: $1" >&2
+		exit 1
+	}
+}
+
+need_cmd cmake
+need_cmd lcov
+need_cmd genhtml
+need_cmd gcc
+
+# lcov defaults to gcov-11 on Ubuntu; use gcov matching the active compiler.
+detect_gcov_tool() {
+	local ver
+	ver="$(gcc -dumpversion 2>/dev/null | cut -d. -f1)"
+	if [[ -n "$ver" ]] && command -v "gcov-${ver}" >/dev/null 2>&1; then
+		echo "gcov-${ver}"
+	else
+		echo "gcov"
+	fi
+}
+GCOV_TOOL="$(detect_gcov_tool)"
+
+# lcov 1.14 (Ubuntu 22.04) supports different --ignore-errors vocabularies
+# per tool: geninfo (gcov,source,graph), genhtml (source only), lcov also
+# gcov,source,graph. lcov 1.15+ adds mismatch,unused,format,deprecated.
+# Probe each tool's own help and pick the intersection with what we want.
+detect_ignore_categories_for() {
+	local tool="$1"
+	local wanted=(gcov source graph mismatch unused)
+	local help_line
+	# Each tool prints "(gcov, source, graph)" style inside its --help.
+	help_line="$("$tool" --help 2>&1 | grep -m1 -- '--ignore-errors')"
+	local available=()
+	if [[ "$help_line" =~ \(([^\)]+)\) ]]; then
+		IFS=', ' read -r -a available <<<"${BASH_REMATCH[1]}"
+	fi
+	local supported=()
+	for w in "${wanted[@]}"; do
+		for a in "${available[@]}"; do
+			if [[ "$w" == "$a" ]]; then
+				supported+=("$w")
+				break
+			fi
+		done
+	done
+	# Fallback if parsing failed: source is the only one universally accepted.
+	if [[ ${#supported[@]} -eq 0 ]]; then
+		supported=(source)
+	fi
+	(IFS=,; echo "${supported[*]}")
+}
+LCOV_IGNORE=(--ignore-errors "$(detect_ignore_categories_for lcov)")
+GENHTML_IGNORE=(--ignore-errors "$(detect_ignore_categories_for genhtml)")
+
+configure_coverage_build() {
+	local -a gtest_args=()
+	if [[ -d "$ROOT/build/_deps/googletest-src" ]]; then
+		gtest_args+=(
+			"-DFETCHCONTENT_SOURCE_DIR_GOOGLETEST=$ROOT/build/_deps/googletest-src"
+			-DFETCHCONTENT_UPDATES_DISCONNECTED=ON
+		)
+	fi
+	cmake -B "$BUILD_DIR" \
+		-DCMAKE_BUILD_TYPE=Debug \
+		-DENABLE_COVERAGE=ON \
+		-DBUILD_TESTING=ON \
+		-DBUILD_APP=OFF \
+		-DBUILD_TOOLS=OFF \
+		-DBUILD_EXAMPLES=OFF \
+		-DWITH_QT=OFF \
+		-DWITH_PYTHON=OFF \
+		-DWITH_CERES=OFF \
+		-DWITH_G2O=OFF \
+		-DWITH_GTSAM=OFF \
+		-DWITH_MRPT=OFF \
+		-DWITH_VERTIGO=OFF \
+		-DWITH_CVSBA=OFF \
+		-DWITH_POINTMATCHER=OFF \
+		-DWITH_CCCORELIB=OFF \
+		-DWITH_OPEN3D=OFF \
+		-DWITH_LOAM=OFF \
+		-DWITH_FLOAM=OFF \
+		-DWITH_LIOSAM=OFF \
+		-DWITH_FLYCAPTURE2=OFF \
+		-DWITH_ZED=OFF \
+		-DWITH_ZEDOC=OFF \
+		-DWITH_REALSENSE=OFF \
+		"${gtest_args[@]}"
+}
+
+if [[ ! -f "$BUILD_DIR/CMakeCache.txt" ]]; then
+	echo "Configuring $BUILD_DIR (Debug + ENABLE_COVERAGE)..."
+	configure_coverage_build
+elif ! grep -q '^ENABLE_COVERAGE:BOOL=ON' "$BUILD_DIR/CMakeCache.txt" 2>/dev/null; then
+	echo "Reconfiguring $BUILD_DIR with ENABLE_COVERAGE=ON..."
+	configure_coverage_build
+fi
+
+echo "Building $BUILD_DIR (gcov tool: $GCOV_TOOL)..."
+cmake --build "$BUILD_DIR" -j"$JOBS"
+
+echo "Clearing old coverage runtime data..."
+find "$BUILD_DIR" -name '*.gcda' -delete
+
+echo "Running tests..."
+# Prepend coverage libs: otherwise LD_LIBRARY_PATH (e.g. ROS) can load
+# librtabmap from another build tree and .gcda is never written for corelib/src.
+(
+	export LD_LIBRARY_PATH="$BUILD_DIR/bin${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+	cd "$BUILD_DIR" && ctest --output-on-failure
+)
+
+echo "Capturing coverage..."
+lcov --gcov-tool "$GCOV_TOOL" "${LCOV_IGNORE[@]}" \
+	--capture \
+	--directory "$BUILD_DIR/corelib/src" \
+	--directory "$BUILD_DIR/utilite/src" \
+	--output-file "$INFO_FILE"
+
+echo "Filtering coverage data (repo sources only)..."
+lcov "${LCOV_IGNORE[@]}" --extract "$INFO_FILE" \
+	"${ROOT}/*" \
+	--output-file "$INFO_FILE"
+lcov "${LCOV_IGNORE[@]}" --remove "$INFO_FILE" \
+	'*/sqlite3/*' \
+	'*/rtflann/*' \
+	--output-file "$INFO_FILE"
+
+echo "Generating HTML..."
+rm -rf "$HTML_DIR"
+genhtml "${GENHTML_IGNORE[@]}" "$INFO_FILE" --output-directory "$HTML_DIR" --legend --demangle-cpp
+
+echo ""
+echo "Done: $HTML_DIR/index.html"
+lcov --summary "$INFO_FILE" 2>/dev/null || true