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)

guilib/src/DatabaseViewer.cpp

@@ -996,7 +996,7 @@ bool DatabaseViewer::openDatabase(const QString & path, const ParametersMap & ov
 										.arg(iter->first.c_str())
 										.arg(iter->second.c_str())
 										.arg(jter->second.c_str());
-								UWARN(msg.toStdString().c_str());
+								UWARN("%s", msg.toStdString().c_str());
 							}
 						}
 					}
@@ -1751,7 +1751,7 @@ void DatabaseViewer::extractImages()
 						UWARN("Failed saving \"%s\"", QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
 					if(!cv::imwrite(QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.rightRaw()))
 						UWARN("Failed saving \"%s\"", QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
-					UINFO(QString("Saved left/%1.%2 and right/%1.%2").arg(id).arg(ext).toStdString().c_str());
+					UINFO("%s", QString("Saved left/%1.%2 and right/%1.%2").arg(id).arg(ext).toStdString().c_str());
 
 					if(databaseFileName_.empty())
 					{
@@ -1803,12 +1803,12 @@ void DatabaseViewer::extractImages()
 						if(!cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw().type()==CV_32FC1?util2d::cvtDepthFromFloat(data.depthRaw()):data.depthRaw()))
 							UWARN("Failed saving \"%s\"", QString("%1/depth/%2.png").arg(path).arg(id).toStdString().c_str());
 						if(data.depthConfidenceRaw().empty()) {
-							UINFO(QString("Saved rgb/%1.%2 and depth/%1.png").arg(id).arg(ext).toStdString().c_str());
+							UINFO("%s", QString("Saved rgb/%1.%2 and depth/%1.png").arg(id).arg(ext).toStdString().c_str());
 						}
 						else {
 							if(!cv::imwrite(QString("%1/confidence/%2.png").arg(path).arg(id).toStdString(), data.depthConfidenceRaw()))
 								UWARN("Failed saving \"%s\"", QString("%1/confidence/%2.png").arg(path).arg(id).toStdString().c_str());
-							UINFO(QString("Saved rgb/%1.%2, depth/%1.png and confidence/%1.png").arg(id).arg(ext).toStdString().c_str());
+							UINFO("%s", QString("Saved rgb/%1.%2, depth/%1.png and confidence/%1.png").arg(id).arg(ext).toStdString().c_str());
 						}
 					}
 					else
@@ -1816,7 +1816,7 @@ void DatabaseViewer::extractImages()
 						if(!cv::imwrite(QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
 							UWARN("Failed saving \"%s\"", QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
 						else
-							UINFO(QString("Saved %1.%2").arg(id).arg(ext).toStdString().c_str());
+							UINFO("%s", QString("Saved %1.%2").arg(id).arg(ext).toStdString().c_str());
 					}
 
 					if(databaseFileName_.empty())
@@ -3139,7 +3139,7 @@ void DatabaseViewer::editSaved2DMap()
 			progressDialog.setMinimumWidth(800);
 			QApplication::processEvents();
 
-			UINFO("Cropping empty space... poses=%d cropRadius=%d", poses.size(), cropRadius);
+			UINFO("Cropping empty space... poses=%d cropRadius=%d", (int)poses.size(), cropRadius);
 			UASSERT(cropRadius>=0);
 			for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end() && !progressDialog.isCanceled(); ++iter)
 			{
@@ -3609,7 +3609,7 @@ void DatabaseViewer::exportOptimizedMesh()
 					path += ".obj";
 				}
 				QString baseName = QFileInfo(path).baseName();
-				UDEBUG("Materials: %d", mesh->tex_materials.size());
+				UDEBUG("Materials: %d", (int)mesh->tex_materials.size());
 				if(mesh->tex_materials.size() == 1)
 				{
 					mesh->tex_materials.at(0).tex_file = baseName.toStdString() + ".png";
@@ -3916,7 +3916,7 @@ void DatabaseViewer::generateLocalGraph()
 						idsSet.insert(idsSet.end(), iter->first);
 						UINFO("Node %d", iter->first);
 					}
-					UINFO("idsSet=%d", idsSet.size());
+					UINFO("idsSet=%d", (int)idsSet.size());
 					dbDriver_->generateGraph(path.toStdString(), idsSet);
 				}
 				else
@@ -5849,11 +5849,11 @@ void DatabaseViewer::update(int value,
 												polygons = filteredPolygons;
 											}
 
-											cloudViewer_->addCloudMesh(uFormat("mesh_%d", i), cloud, polygons, pose);
+											cloudViewer_->addCloudMesh(uFormat("mesh_%d", (int)i), cloud, polygons, pose);
 										}
 										if(ui_->checkBox_showCloud->isChecked())
 										{
-											std::string cloudName = uFormat("cloud_%d", i);
+											std::string cloudName = uFormat("cloud_%d", (int)i);
 											cloudViewer_->addCloud(cloudName, cloud, pose);
 											if(colorIndexAndPointSizeMap.find(cloudName) != colorIndexAndPointSizeMap.end()) {
 												cloudViewer_->setCloudColorIndex(cloudName, colorIndexAndPointSizeMap.at(cloudName).first);
@@ -5888,7 +5888,7 @@ void DatabaseViewer::update(int value,
 											cloud = util3d::voxelize(cloud, indices, ui_->doubleSpinBox_voxelSize->value());
 										}
 
-										std::string cloudName = uFormat("cloud_%d", i);
+										std::string cloudName = uFormat("cloud_%d", (int)i);
 										cloudViewer_->addCloud(cloudName, cloud, pose);
 										if(colorIndexAndPointSizeMap.find(cloudName) != colorIndexAndPointSizeMap.end()) {
 											cloudViewer_->setCloudColorIndex(cloudName, colorIndexAndPointSizeMap.at(cloudName).first);
@@ -8293,7 +8293,7 @@ void DatabaseViewer::updateGraphView()
 			}
 			else
 			{
-				UWARN("Empty WM poses!? Ignoring WM state... (root id=%d, wmState=%d)", fromId, wmState.size());
+				UWARN("Empty WM poses!? Ignoring WM state... (root id=%d, wmState=%d)", fromId, (int)wmState.size());
 			}
 		}
 
@@ -9396,7 +9396,7 @@ void DatabaseViewer::refineConstraint(int from, int to, Registration * reg, Regi
 					std::string msg = "Option to generate scan from depth is checked (GUI Parameters->Refine), but "
 									  "resulting clouds from depth are empty. Transformation estimation will likely "
 									  "fails. Uncheck the parameter to use laser scans.";
-					UWARN(msg.c_str());
+					UWARN("%s", msg.c_str());
 					if(!silent)
 					{
 						QMessageBox::warning(this,
@@ -9674,7 +9674,7 @@ bool DatabaseViewer::addConstraint(int from, int to, Registration * reg, bool si
 					std::string msg = "Option to generate scan from depth is checked (GUI Parameters->Refine), but "
 									  "resulting clouds from depth are empty. Transformation estimation will likely "
 									  "fails. Uncheck the parameter to use laser scans.";
-					UWARN(msg.c_str());
+					UWARN("%s", msg.c_str());
 					if(!silent)
 					{
 						QMessageBox::warning(this,
@@ -9701,7 +9701,7 @@ bool DatabaseViewer::addConstraint(int from, int to, Registration * reg, bool si
 					fromS->id(),
 					toS->id(),
 					Parameters::kRGBDLoopClosureReextractFeatures().c_str());
-			UWARN(msg.c_str());
+			UWARN("%s", msg.c_str());
 			if(!silent)
 			{
 				QMessageBox::warning(this,