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Adding doc and tests (#1492)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

7
tools/DatabaseViewer/main.cpp
View File

@@ -28,9 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QApplication>
#include "rtabmap/gui/DatabaseViewer.h"
#include "rtabmap/utilite/ULogger.h"
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
#include <vtkObject.h>
#include <vtkVersionMacros.h>
@@ -59,10 +56,6 @@ int main(int argc, char * argv[])
// before QApplication is constructed.
QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
QApplication * app = new QApplication(argc, argv);
rtabmap::DatabaseViewer * mainWindow = new rtabmap::DatabaseViewer();

4
tools/DetectMoreLoopClosures/main.cpp
View File

@@ -319,5 +319,7 @@ int main(int argc, char * argv[])
rtabmap.close(detected>0);
return detected>=0;
// Only a negative count is a failure (detection failed or was interrupted).
// Finding zero new loop closures is a valid outcome, so exit 0.
return detected<0?1:0;
}

14
tools/EpipolarGeometry/main.cpp
View File

@@ -200,13 +200,13 @@ int main(int argc, char** argv)
std::vector<cv::KeyPoint> kpts2 = detector.generateKeypoints(image2);
cv::Mat descriptors1 = detector.generateDescriptors(image1, kpts1);
cv::Mat descriptors2 = detector.generateDescriptors(image2, kpts2);
UINFO("detect/extract features = %d ms", timer.elapsed());
UINFO("detect/extract features = %d ms", (int)timer.elapsed());
timer.start();
std::list<int> wordIds1 = dictionary.addNewWords(descriptors1, 1);
dictionary.update();
std::list<int> wordIds2 = dictionary.addNewWords(descriptors2, 2);
UINFO("quantization to words = %d ms", timer.elapsed());
UINFO("quantization to words = %d ms", (int)timer.elapsed());
std::multimap<int, cv::KeyPoint> words1 = aggregate(wordIds1, kpts1);
std::multimap<int, cv::KeyPoint> words2 = aggregate(wordIds2, kpts2);
@@ -215,14 +215,14 @@ int main(int argc, char** argv)
timer.start();
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
EpipolarGeometry::findPairsUnique(words1, words2, pairs);
UINFO("find pairs = %d ms", timer.elapsed());
UINFO("find pairs = %d ms", (int)timer.elapsed());
// Find fundamental matrix
timer.start();
std::vector<uchar> status;
cv::Mat fundamentalMatrix = EpipolarGeometry::findFFromWords(pairs, status);
UINFO("inliers = %d/%d", uSum(status), pairs.size());
UINFO("find F = %d ms", timer.elapsed());
UINFO("inliers = %d/%d", uSum(status), (int)pairs.size());
UINFO("find F = %d ms", (int)timer.elapsed());
if(!fundamentalMatrix.empty())
{
int i = 0;
@@ -309,7 +309,7 @@ int main(int argc, char** argv)
p0.at<double>(0,0) = 1;
p0.at<double>(1,1) = 1;
p0.at<double>(2,2) = 1;
UINFO("find P from F = %d ms", timer.elapsed());
UINFO("find P from F = %d ms", (int)timer.elapsed());
std::cout<<"P=" << p << std::endl;
@@ -317,7 +317,7 @@ int main(int argc, char** argv)
cv::Mat x4d;
timer.start();
cv::triangulatePoints(p0, p, x1, x2, x4d);
UINFO("find X (triangulate) = %d ms", timer.elapsed());
UINFO("find X (triangulate) = %d ms", (int)timer.elapsed());
//Show 4D points
for(int i=0; i<x4d.cols; ++i)

30
tools/Info/main.cpp
View File

@@ -402,8 +402,8 @@ int main(int argc, char * argv[])
std::cout << (uFormat("%s%fs\n", uPad("Total time:").c_str(), infoTotalTime));
std::cout << (uFormat("%s%d nodes and %d words (dim=%d type=%s)\n", uPad("LTM:").c_str(), (int)ids.size(), driver->getTotalDictionarySize(), wordsDim, wordsType==CV_8UC1?"8U":wordsType==CV_32FC1?"32F":uNumber2Str(wordsType).c_str()));
std::cout << (uFormat("%s%d nodes and %d words\n", uPad("WM:").c_str(), driver->getLastNodesSize(), driver->getLastDictionarySize()));
std::cout << (uFormat("%s%d poses and %d links\n", uPad("Global graph:").c_str(), odomPoses, links.size()));
std::cout << (uFormat("%s%d poses (x=%d->%d, y=%d->%d, z=%d->%d)\n", uPad("Optimized graph:").c_str(), (int)optimizedPoses.size(), links.size(), (int)min[0], (int)max[0], (int)min[1], (int)max[1], min[2], (int)max[2]));
std::cout << (uFormat("%s%d poses and %d links\n", uPad("Global graph:").c_str(), odomPoses, (int)links.size()));
std::cout << (uFormat("%s%d poses, %d links (x=%d->%d, y=%d->%d, z=%d->%d)\n", uPad("Optimized graph:").c_str(), (int)optimizedPoses.size(), (int)links.size(), (int)min[0], (int)max[0], (int)min[1], (int)max[1], (int)min[2], (int)max[2]));
std::cout << (uFormat("%s%d/%d [%s]\n", uPad("Maps in graph:").c_str(), (int)mapsLinkedToLastGraph.size(), sessions, sessionsInOptGraphStr.str().c_str()));
std::cout << (uFormat("%s%d poses\n", uPad("Ground truth:").c_str(), gtPoses));
std::cout << (uFormat("%s%d poses\n", uPad("GPS:").c_str(), gpsValues));
@@ -428,42 +428,42 @@ int main(int argc, char * argv[])
long total = 0;
long dbSize = UFile::length(driver->getUrl());
long mem = dbSize;
std::cout << (uFormat("%s%d %s\n", uPad("Database size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes"));
std::cout << (uFormat("%s%d %s\n", uPad("Database size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes"));
mem = driver->getNodesMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Nodes size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Nodes size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getLinksMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Links size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Links size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getImagesMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("RGB Images size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("RGB Images size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getDepthImagesMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Depth Images size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Depth Images size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getCalibrationsMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Calibrations size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Calibrations size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getGridsMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Grids size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Grids size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getLaserScansMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Scans size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Scans size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getUserDataMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("User data size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("User data size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getWordsMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Dictionary size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Dictionary size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getFeaturesMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Features size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Features size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getStatisticsMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Statistics size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Statistics size:").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = dbSize - total;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Other (indexing, unused):").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Other (indexing, unused):").c_str(), (int)(mem>1000000?mem/1000000:mem>1000?mem/1000:mem), mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << ("\n");
}

7
tools/Matcher/main.cpp
View File

@@ -42,9 +42,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
#include <fstream>
#include <string>
#include <QApplication>
@@ -186,10 +183,6 @@ int main(int argc, char * argv[])
printf(" --raw (images will be rectified)\n");
}
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
ParametersMap parameters = Parameters::parseArguments(argc, argv);
parameters.insert(ParametersPair(Parameters::kRegRepeatOnce(), "false"));

7
tools/ReduceGraph/main.cpp
View File

@@ -38,9 +38,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UStl.h>
#ifdef RTABMAP_PYTHON
#include <rtabmap/core/PythonInterface.h>
#endif
#include <pcl/filters/filter.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
@@ -143,10 +140,6 @@ int main(int argc, char * argv[])
printf(" remove_all_orphan_nodes = %s\n", removeAllOrphanNodes?"true":"false");
removeOrphanNodes = removeAllOrphanNodes || removeOrphanNodes;
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
#endif
// Just parse logging options
Parameters::parseArguments(argc, argv);

14
tools/Report/CMakeLists.txt
View File

@@ -2,21 +2,21 @@
set(LIBRARIES rtabmap_core)
IF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
set(LIBRARIES ${LIBRARIES} rtabmap_gui)
ENDIF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
set(LIBRARIES ${LIBRARIES} rtabmap_gui)
ENDIF()
ADD_EXECUTABLE(report main.cpp)
TARGET_LINK_LIBRARIES(report ${LIBRARIES})
SET_TARGET_PROPERTIES(report PROPERTIES
OUTPUT_NAME ${PROJECT_PREFIX}-report
OUTPUT_NAME ${PROJECT_PREFIX}-report
)
IF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
SET_TARGET_PROPERTIES(report PROPERTIES COMPILE_DEFINITIONS "WITH_QT")
ENDIF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
target_compile_definitions(report PRIVATE WITH_QT)
ENDIF()
INSTALL(TARGETS report
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)

2
tools/RgbdDataset/main.cpp
View File

@@ -228,7 +228,7 @@ int main(int argc, char * argv[])
else {
printf("ERROR: Dataset %s is not supported. Update rgbd_dataset tool to include the right calibration parameter for this dataset!\n", sequenceName.c_str());
}
//parameters.insert(ParametersPair(Parameters::kg2oBaseline(), uNumber2Str(40.0f/model.fx())));
//parameters.insert(ParametersPair(Parameters::kOptimizerBaseline(), uNumber2Str(40.0f/model.fx())));
model.save(path);
SensorCaptureThread cameraThread(new

8
tools/StereoEval/main.cpp
View File

@@ -405,13 +405,13 @@ int main(int argc, char * argv[])
UINFO("good accepted=%d (%d%%) bad accepted=%d (%d%%) good rejected=%d (%d%%) bad rejected=%d (%d%%)",
inliers,
(inliers*100)/leftCorners.size(),
(int)((inliers*100)/leftCorners.size()),
badInliers,
(badInliers*100)/leftCorners.size(),
(int)((badInliers*100)/leftCorners.size()),
goodRejected,
(goodRejected*100)/leftCorners.size(),
(int)((goodRejected*100)/leftCorners.size()),
badRejected,
(badRejected*100)/leftCorners.size());
(int)((badRejected*100)/leftCorners.size()));
UINFO("avg inliers =%f (subInliers=%f)", sumInliers/float(inliers), sumSubInliers/float(subInliers));