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)

utilite/src/UDirectory.cpp

@@ -278,6 +278,11 @@ std::string UDirectory::getDir(const std::string & filePath)
 	{
 		if(dir[i] == '/' || dir[i] == '\\')
 		{
+			if(i == 0)
+			{
+				// leading /
+				break;
+			}
 			//remove separators...
 			dir[i] = 0;
 			--i;

utilite/src/UEventsManager.cpp

@@ -225,17 +225,18 @@ bool UEventsManager::dispatchEvent(UEvent * event, const UEventsSender * sender)
 		if(std::find(handlers_.begin(), handlers_.end(), *it) != handlers_.end())
 		{
 			UEventsHandler * handler = *it;
-			handlersMutex_.unlock();
 
 			// Don't process event if the handler is the same as the sender
 			if(handler != sender)
 			{
-				// To be able to add/remove an handler in a handleEvent call (without a deadlock)
-				// @see _addHandler(), _removeHandler()
+				// Keep handlersMutex_ held across handleEvent() so a concurrent
+				// removeHandler() in another thread cannot return while this
+				// dispatch is in flight (which would let the handler be
+				// destroyed under us). The mutex is recursive, so a handler
+				// that calls addHandler()/removeHandler() from within
+				// handleEvent() still works.
 				handled = handler->handleEvent(event);
 			}
-
-			handlersMutex_.lock();
 		}
 	}
 	handlersMutex_.unlock();

utilite/src/UFile.cpp

@@ -87,7 +87,7 @@ std::string UFile::getName(const std::string & filePath)
 std::string UFile::getExtension(const std::string &filePath)
 {
 	std::list<std::string> list = uSplit(filePath, '.');
-	if(list.size())
+	if(list.size()>1)
 	{
 		return list.back();
 	}

utilite/src/ULogger.cpp

@@ -257,6 +257,8 @@ std::map<std::string, unsigned long> ULogger::getRegisteredThreads()
 
 void ULogger::reset()
 {
+	UScopeMutex lock(loggerMutex_);
+	flush();
 	ULogger::setType(ULogger::kTypeNoLog);
 	append_ = true;
 	printTime_ = true;
@@ -266,9 +268,11 @@ void ULogger::reset()
 	printWhere_ = true;
 	printWhereFullPath_ = false;
 	printThreadID_ = false;
+	buffered_ = false;
 	limitWhereLength_ = false;
 	level_ = kInfo; // By default, we show all info msgs + upper level (Warning, Error)
 	logFileName_ = ULogger::kDefaultLogFileName;
+	registeredThreads_.clear();
 }
 
 void ULogger::setBuffered(bool buffered)
@@ -300,66 +304,6 @@ void ULogger::_flush()
 	bufferedMsgs_.clear();
 }
 
-void ULogger::write(const char* msg, ...)
-{
-	loggerMutex_.lock();
-	if(!instance_)
-	{
-		loggerMutex_.unlock();
-		return;
-	}
-
-    std::string endline = "";
-    if(printEndline_) {
-        endline = "\r\n";
-    }
-
-    std::string time = "";
-    if(printTime_)
-    {
-        getTime(time);
-        time.append(" - ");
-    }
-
-
-    if(printTime_)
-    {
-    	if(buffered_)
-    	{
-    		bufferedMsgs_.append(time.c_str());
-    	}
-    	else
-    	{
-    		ULogger::getInstance()->_writeStr(time.c_str());
-    	}
-    }
-
-    va_list args;
-    va_start(args, msg);
-    if(buffered_)
-    {
-    	bufferedMsgs_.append(uFormatv(msg, args));
-    }
-	else
-	{
-		ULogger::getInstance()->_write(msg, args);
-	}
-    va_end(args);
-    if(printEndline_)
-    {
-    	if(buffered_)
-    	{
-    		bufferedMsgs_.append(endline.c_str());
-    	}
-    	else
-    	{
-    		ULogger::getInstance()->_writeStr(endline.c_str());
-    	}
-    }
-    loggerMutex_.unlock();
-
-} 
-
 void ULogger::write(ULogger::Level level,
 		const char * file,
 		int line,

utilite/src/UThread.cpp

@@ -69,7 +69,7 @@ void UThread::kill()
 			}
 			else
 			{
-				UERROR("thread (%d) is supposed to be running...", threadId_);
+				UERROR("thread (%d) is supposed to be running...", (int)threadId_);
 			}
     	}
     	else

utilite/src/UTimer.cpp

@@ -65,17 +65,6 @@ double UTimer::getElapsedTime()
 	QueryPerformanceCounter(&now);
     return double(now.QuadPart - startTimeRecorded_.QuadPart) / frequency_.QuadPart;
 }
-double UTimer::getInterval()
-{
-	if(stopTimeRecorded_.QuadPart == startTimeRecorded_.QuadPart)
-	{
-		return getElapsedTime();
-	}
-	else
-	{
-		return double(stopTimeRecorded_.QuadPart - startTimeRecorded_.QuadPart) / frequency_.QuadPart;
-	}
-}
 #else
 double UTimer::now()
 {
@@ -99,19 +88,6 @@ double UTimer::getElapsedTime()
 	return UTimer::now() - (double(startTimeRecorded_.tv_sec) + double(startTimeRecorded_.tv_usec) / 1000000.0);
 
 }
-double UTimer::getInterval()
-{
-	if(startTimeRecorded_.tv_sec == stopTimeRecorded_.tv_sec && startTimeRecorded_.tv_usec == stopTimeRecorded_.tv_usec)
-	{
-		return getElapsedTime();
-	}
-	else
-	{
-		double start = double(startTimeRecorded_.tv_sec) + double(startTimeRecorded_.tv_usec) / 1000000.0;
-		double stop = double(stopTimeRecorded_.tv_sec) + double(stopTimeRecorded_.tv_usec) / 1000000.0;
-		return stop - start;
-	}
-}
 #endif
 
 double UTimer::ticks()        // Stop->start and return Interval