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/MainWindow.cpp

@@ -1507,7 +1507,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 					{
 						for(size_t i=0; i<10; ++i)
 						{
-							std::string subFrustumId = uFormat("f_odom_%d", iter->first*10+i);
+							std::string subFrustumId = uFormat("f_odom_%d", (int)(iter->first*10+i));
 							_cloudViewer->updateFrustumPose(subFrustumId, _odometryCorrection*iter->second);
 						}
 					}
@@ -1520,7 +1520,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 							if(!t.isNull())
 							{
 								QColor color = Qt::yellow;
-								std::string subFrustumId = uFormat("f_odom_%d", iter->first*10+i);
+								std::string subFrustumId = uFormat("f_odom_%d", (int)(iter->first*10+i));
 								_cloudViewer->addOrUpdateFrustum(subFrustumId, _odometryCorrection*iter->second, t, _cloudViewer->getFrustumScale(), color, models[i].fovX(), models[i].fovY());
 							}
 						}
@@ -2299,7 +2299,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			{
 				_cachedLocalizationsCount[matchId] += 1.0f;
 			}
-			UDEBUG("time= %d ms (update detection ui)", time.restart());
+			UDEBUG("time= %d ms (update detection ui)", (int)time.restart());
 
 			//update image views
 			if(!signature.sensorData().imageRaw().empty() ||
@@ -2351,7 +2351,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				qimageLoopThread.join();
 				QImage img = qimageThread.getQImage();
 				QImage lcImg = qimageLoopThread.getQImage();
-				UDEBUG("time= %d ms (convert image to qt)", time.restart());
+				UDEBUG("time= %d ms (convert image to qt)", (int)time.restart());
 
 				if(!img.isNull())
 				{
@@ -2399,7 +2399,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				_ui->imageView_loopClosure->setSceneRect(_ui->imageView_source->sceneRect());
 			}
 
-			UDEBUG("time= %d ms (update detection imageviews)", time.restart());
+			UDEBUG("time= %d ms (update detection imageviews)", (int)time.restart());
 
 			if(_ui->imageView_source->isFeaturesShown() || _ui->imageView_loopClosure->isFeaturesShown() || 
 			   (_ui->imageView_source->isLinesShown() && _ui->imageView_loopClosure->isLinesShown()))
@@ -2433,7 +2433,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				_lastIds.clear();
 			}
 
-			UDEBUG("time= %d ms (draw keypoints)", time.restart());
+			UDEBUG("time= %d ms (draw keypoints)", (int)time.restart());
 
 			// loop closure view
 			if((stat.loopClosureId() > 0 || stat.proximityDetectionId() > 0)  &&
@@ -2455,7 +2455,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 					}
 				}
 
-				UDEBUG("time= %d ms (update loop closure viewer)", time.restart());
+				UDEBUG("time= %d ms (update loop closure viewer)", (int)time.restart());
 			}
 		}
 		else if(rehearsedSimilarity)
@@ -2489,7 +2489,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 		{
 			_rawLikelihoodCurve->setData(QMap<int, float>(stat.rawLikelihood()), QMap<int, int>(stat.weights()));
 		}
-		UDEBUG("time= %d ms (update likelihood and posterior)", time.restart());
+		UDEBUG("time= %d ms (update likelihood and posterior)", (int)time.restart());
 
 		// Update statistics tool box
 		if(_preferencesDialog->isCacheSavedInFigures() || _ui->statsToolBox->isVisible())
@@ -2506,7 +2506,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			}
 		}
 
-		UDEBUG("time= %d ms (update stats toolbox)", time.restart());
+		UDEBUG("time= %d ms (update stats toolbox)", (int)time.restart());
 
 		//======================
 		// RGB-D Mapping stuff
@@ -2547,9 +2547,9 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 
 			std::map<int, Transform> poses = stat.poses();
 
-			UDEBUG("time= %d ms (update gt-gps stuff)", time.restart());
+			UDEBUG("time= %d ms (update gt-gps stuff)", (int)time.restart());
 
-			UDEBUG("%d %d %d", poses.size(), poses.size()?poses.rbegin()->first:0, stat.refImageId());
+			UDEBUG("%d %d %d", (int)poses.size(), poses.size()?poses.rbegin()->first:0, stat.refImageId());
 			if(!_odometryReceived && poses.size() && poses.rbegin()->first == stat.refImageId())
 			{
 				if(_cloudViewer->isVisible())
@@ -2625,7 +2625,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 
 			_odometryReceived = false;
 
-			UDEBUG("time= %d ms (update map cloud)", time.restart());
+			UDEBUG("time= %d ms (update map cloud)", (int)time.restart());
 
 			if(_preferencesDialog->isCacheSavedInFigures() || _ui->statsToolBox->isVisible())
 			{
@@ -2711,7 +2711,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			{
 				_ui->graphicsView_graphView->setCurrentGoalID(stat.currentGoalId(), uValue(stat.poses(), stat.currentGoalId(), Transform()));
 			}
-			UDEBUG("time= %d ms (update graph view)", time.restart());
+			UDEBUG("time= %d ms (update graph view)", (int)time.restart());
 		}
 
 		if(_multiSessionLocWidget->isVisible())
@@ -2767,7 +2767,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			}
 		}
 
-		UDEBUG("time= %d ms (update cache)", time.restart());
+		UDEBUG("time= %d ms (update cache)", (int)time.restart());
 	}
 	else if(!stat.extended() && stat.loopClosureId()>0)
 	{
@@ -2968,7 +2968,7 @@ void MainWindow::updateMapCloud(
 	}
 
 	// Map updated! regenerate the assembled cloud, last pose is the new one
-	UDEBUG("Update map with %d locations", poses.size());
+	UDEBUG("Update map with %d locations", (int)poses.size());
 	QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
 	std::set<std::string> viewerLines = _cloudViewer->getAddedLines();
 	int i=1;
@@ -4394,7 +4394,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
 
 	if(_createdFeatures.find(nodeId) != _createdFeatures.end())
 	{
-		UDEBUG("Features cloud %d already created.");
+		UDEBUG("Features cloud %d already created.", nodeId);
 		return;
 	}
 
@@ -4419,7 +4419,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
 		int oi=0;
 		UASSERT(iter->getWords().size() == iter->getWords3().size());
 		float maxDepth = _preferencesDialog->getCloudMaxDepth(0);
-		UDEBUG("rgb.channels()=%d");
+		UDEBUG("rgb.channels()=%d", rgb.channels());
 		if(!iter->getWords3().empty() && iter->getWords3().size() == iter->getWordsKpts().size())
 		{
 			Transform invLocalTransform = Transform::getIdentity();
@@ -4668,14 +4668,14 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 						if(QFile::rename(_newDatabasePath, _newDatabasePathOutput))
 						{
 							std::string msg = uFormat("Database saved to \"%s\".", _newDatabasePathOutput.toStdString().c_str());
-							UINFO(msg.c_str());
+							UINFO("%s", msg.c_str());
 							QMessageBox::information(this, tr("Database saved!"), QString(msg.c_str()));
 						}
 						else
 						{
 							std::string msg = uFormat("Failed to rename temporary database from \"%s\" to \"%s\".",
 									_newDatabasePath.toStdString().c_str(), _newDatabasePathOutput.toStdString().c_str());
-							UERROR(msg.c_str());
+							UERROR("%s", msg.c_str());
 							QMessageBox::critical(this, tr("Closing failed!"), QString(msg.c_str()));
 						}
 					}
@@ -4683,7 +4683,7 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 					{
 						std::string msg = uFormat("Failed to overwrite the database \"%s\". The temporary database is still correctly saved at \"%s\".",
 								_newDatabasePathOutput.toStdString().c_str(), _newDatabasePath.toStdString().c_str());
-						UERROR(msg.c_str());
+						UERROR("%s", msg.c_str());
 						QMessageBox::critical(this, tr("Closing failed!"), QString(msg.c_str()));
 					}
 				}
@@ -4700,7 +4700,7 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 			else if(!_openedDatabasePath.isEmpty())
 			{
 				std::string msg = uFormat("Database \"%s\" updated.", _openedDatabasePath.toStdString().c_str());
-				UINFO(msg.c_str());
+				UINFO("%s", msg.c_str());
 				QMessageBox::information(this, tr("Database updated!"), QString(msg.c_str()));
 			}
 		}
@@ -5068,7 +5068,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
 	UTimer timer;
 
 	timer.start();
-	ULOGGER_DEBUG("refWords.size() = %d", refWords.size());
+	ULOGGER_DEBUG("refWords.size() = %d", (int)refWords.size());
 	_ui->imageView_source->clearFeatures();
 	if(_ui->imageView_source->isFeaturesShown())
 	{
@@ -5112,7 +5112,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
 	ULOGGER_DEBUG("source time (shown=%d) = %f s", _ui->imageView_source->isFeaturesShown()?1:0, timer.ticks());
 
 	timer.start();
-	ULOGGER_DEBUG("loopWords.size() = %d", loopWords.size());
+	ULOGGER_DEBUG("loopWords.size() = %d", (int)loopWords.size());
 	QList<QPair<cv::Point2f, cv::Point2f> > uniqueCorrespondences;
 	_ui->imageView_loopClosure->clearFeatures();
 	if(_ui->imageView_loopClosure->isFeaturesShown())
@@ -5499,7 +5499,7 @@ void MainWindow::updateParameters(const ParametersMap & parameters)
 							.arg(iter->first.c_str())
 							.arg(iter->second.c_str());
 			_ui->widget_console->appendMsg(msg);
-			UWARN(msg.toStdString().c_str());
+			UWARN("%s", msg.toStdString().c_str());
 		}
 		QMessageBox::StandardButton button = QMessageBox::question(this,
 				tr("Parameters"),
@@ -5709,7 +5709,7 @@ void MainWindow::openDatabase(const QString & path, const ParametersMap & overri
 											.arg(iter->second.c_str())
 											.arg(jter->second.c_str());
 							_ui->widget_console->appendMsg(msg);
-							UWARN(msg.toStdString().c_str());
+							UWARN("%s", msg.toStdString().c_str());
 						}
 					}
 				}
@@ -6696,7 +6696,7 @@ void MainWindow::postProcessing(
 	{
 		QString msg = tr("Some data missing in the cache to respect the constraints chosen. "
 				   "Try \"Edit->Download all clouds\" to update the cache and try again.");
-		UWARN(msg.toStdString().c_str());
+		UWARN("%s", msg.toStdString().c_str());
 		if(abortIfDataMissing)
 		{
 			QMessageBox::warning(this, tr("Not all data available in the GUI..."), msg);
@@ -6875,7 +6875,8 @@ void MainWindow::postProcessing(
 											{
 												UWARN("\"%s\" is false and signatures (%d and %d) don't have raw "
 														"images. Update the cache.",
-													Parameters::kRGBDLoopClosureReextractFeatures().c_str());
+													Parameters::kRGBDLoopClosureReextractFeatures().c_str(),
+													signatureFrom.id(), signatureTo.id());
 											}
 											else
 											{
@@ -7168,7 +7169,7 @@ void MainWindow::postProcessing(
 
 		ParametersMap parametersSBA = _preferencesDialog->getAllParameters();
 		uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerIterations(), uNumber2Str(sbaIterations)));
-		uInsert(parametersSBA, std::make_pair(Parameters::kg2oPixelVariance(), uNumber2Str(sbaVariance)));
+		uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerPixelVariance(), uNumber2Str(sbaVariance)));
 		Optimizer * sbaOptimizer = Optimizer::create(sbaType, parametersSBA);
 		std::map<int, Transform>  newPoses = sbaOptimizer->optimizeBA(
 			optimizedPoses.begin()->first,