mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-08 19:17:45 +08:00
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)
This commit is contained in:
matlabbe
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-102
@@ -24981,7 +24981,7 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="23" column="1">
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<item row="24" column="1">
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<widget class="QLabel" name="label_640">
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<property name="text">
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<string>Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are "pcd", "ply" or "vtk". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.</string>
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@@ -25033,9 +25033,29 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="23" column="0">
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<item row="24" column="0">
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<widget class="QLineEdit" name="loopClosure_icpDebugExportFormat"/>
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</item>
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<item row="23" column="0">
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<widget class="QCheckBox" name="loopClosure_icpPointToPlaneComplexityCentered">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="23" column="1">
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<widget class="QLabel" name="label_icpPointToPlaneComplexityCentered">
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<property name="text">
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<string>Structural-complexity metric. If unchecked (default), use the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T) — its smallest eigenvalue measures how well the surface normals span the ambient space, which correctly distinguishes perpendicular-surface scenes from corridors. If checked, use centered PCA (cv::PCA covariance) for backwards compatibility — but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="20" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneGroundNormalsUp">
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<property name="decimals">
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@@ -25259,7 +25279,7 @@ Lower the ratio -> higher the precision.</string>
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<item row="22" column="1">
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<widget class="QLabel" name="label_6071">
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<property name="text">
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<string>Stuctural complexity strategy. If structural complexity is below the minimum complexity threshold: set to 0 to so that the transform is automatically rejected, set to 1 to limit ICP correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to accept "as is" the transform computed by PointToPoint.</string>
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<string>Structural complexity strategy. If structural complexity is below the minimum complexity threshold: 0 = reject the transform; 1 (default) = recompute with PointToPoint and limit ICP correction along the unconstrained axes (e.g. in a corridor, x is taken from the guess while y/yaw are still solved for); 2 = recompute with PointToPoint and accept the result "as is"; 3 = keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -25286,6 +25306,11 @@ Lower the ratio -> higher the precision.</string>
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<string>PointToPoint</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Constrained PointToPlane</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="17" column="1">
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@@ -25940,6 +25965,134 @@ Lower the ratio -> higher the precision.</string>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_20">
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<property name="title">
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<string>Bundle Adjustement</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_84" columnstretch="0,1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_disparityVariance">
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<property name="text">
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<string>Disparity variance. Set higher if the depth source is noisier than the feature precision (e.g. stereo block matching at long range); set lower if depth is more accurate than 2d pixel location of the features (e.g. ToF / LiDAR-fused depth).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_350">
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<property name="text">
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<string>Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Observations with chi2 over this threshold will be ignored in the second optimization pass.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_352">
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<property name="text">
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<string>When doing bundle adjustment with RGB-D data, we can set a fake baseline to do stereo bundle adjustment (if 0, mono bundle adjustment is done). For stereo data, the baseline in the calibration is used directly.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_robustKernelDelta">
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>5.991000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_baseline">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>9.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.075000000000000</double>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_optimizer_disparityVariance">
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.001000000000000</double>
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</property>
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<property name="maximum">
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<double>999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>1.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_pixelVariance">
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.010000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_148">
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<property name="text">
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<string>Pixel variance of the feature detection. Set higher if features are noisy (low texture, motion blur); set lower if features are sub-pixel.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBoxx_g2o">
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<property name="title">
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@@ -26008,105 +26161,6 @@ Lower the ratio -> higher the precision.</string>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_20">
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<property name="title">
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<string>Bundle Adjustement</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_84" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_pixelVariance">
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.010000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_148">
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<property name="text">
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<string>Pixel variance used for bundle adjustment.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_robustKernelDelta">
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>5.991000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_350">
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<property name="text">
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<string>Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Observations with chi2 over this threshold will be ignored in the second optimization pass.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_baseline">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>9.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.075000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_352">
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<property name="text">
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<string>When doing bundle adjustment with RGB-D data, we can set a fake baseline to do stereo bundle adjustment (if 0, mono bundle adjustment is done). For stereo data, the baseline in the calibration is used directly.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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Block a user