mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-08 12:30:20 +08:00
matlabbe
ee49beaf4f
* 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)
113 lines
6.2 KiB
CMake
113 lines
6.2 KiB
CMake
# RTABMAP_SETUP_DOCUMENTATION()
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#
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# Prepares everything the API documentation build needs, and writes the Doxyfile:
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#
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# - fetches Doxygen Awesome, the theme of the generated HTML
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# - regenerates the Doxygen HTML header and injects our scripts in it
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# - generates the "Parameter reference" page from Parameters.h
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# - configures Doxyfile.in into ${CMAKE_BINARY_DIR}/Doxyfile
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#
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# Call it only when the documentation is actually wanted (see BUILD_DOCUMENTATION
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# in the top-level CMakeLists.txt): it needs the network, Doxygen and Python3.
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# Run the result from the source tree, whose layout the Doxyfile paths assume:
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#
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# doxygen <build dir>/Doxyfile
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#
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# The convenience script docs-report.sh does all of that, and lays the output out
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# the way the published site expects.
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MACRO(RTABMAP_SETUP_DOCUMENTATION)
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# Doxygen Awesome, the theme of the generated HTML. Downloaded here instead of
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# being vendored, so bumping it is a one-line change; the archive is pinned by
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# hash. It requires GENERATE_TREEVIEW=YES and HTML_COLORSTYLE=LIGHT (see
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# Doxyfile.in): the theme brings its own dark mode.
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INCLUDE(FetchContent)
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FetchContent_Declare(
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doxygen-awesome-css
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URL https://github.com/jothepro/doxygen-awesome-css/archive/refs/tags/v2.3.4.zip
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URL_HASH SHA256=cb684b29f6be9e63300de56f26c13a04c298af8937a15ce87390fb5a601022a3
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)
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FetchContent_MakeAvailable(doxygen-awesome-css)
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FetchContent_GetProperties(doxygen-awesome-css SOURCE_DIR AWESOME_CSS_DIR)
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# Layout: the base theme keeps Doxygen's top tab bar. The sidebar-only variant
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# drops it and puts everything in the left navigation, which needs the wider
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# tree the theme expects (--side-nav-fixed-width).
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OPTION(BUILD_DOCUMENTATION_SIDEBAR "Use the sidebar-only layout of the Doxygen theme" OFF)
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SET(RTABMAP_DOXYGEN_STYLESHEETS "\"${AWESOME_CSS_DIR}/doxygen-awesome.css\"")
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SET(RTABMAP_DOXYGEN_TREEVIEW_WIDTH 250)
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IF(BUILD_DOCUMENTATION_SIDEBAR)
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SET(RTABMAP_DOXYGEN_TREEVIEW_WIDTH 335)
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STRING(APPEND RTABMAP_DOXYGEN_STYLESHEETS
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" \\\n \"${AWESOME_CSS_DIR}/doxygen-awesome-sidebar-only.css\""
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" \\\n \"${AWESOME_CSS_DIR}/doxygen-awesome-sidebar-only-darkmode-toggle.css\"")
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ENDIF()
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# Ours, last so it can override the theme's variables.
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STRING(APPEND RTABMAP_DOXYGEN_STYLESHEETS
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" \\\n \"${PROJECT_SOURCE_DIR}/doxygen/custom.css\"")
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SET(RTABMAP_DOXYGEN_AWESOME_TOGGLE ${AWESOME_CSS_DIR}/doxygen-awesome-darkmode-toggle.js)
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# Loaded from the header below; init() runs in <head> so that a reader who
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# picked dark mode never sees a flash of the light theme.
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SET(RTABMAP_DOXYGEN_AWESOME_SCRIPTS
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"<script type=\"text/javascript\" src=\"$relpath^doxygen-awesome-darkmode-toggle.js\"></script>\n<script type=\"text/javascript\">DoxygenAwesomeDarkModeToggle.init();</script>\n")
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# Doxygen HTML header carrying the version-switcher and Doxygen Awesome scripts.
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# The template is regenerated with `doxygen -w` so it always matches the locally
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# installed Doxygen (a committed header goes stale and warns on every run); we
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# only insert <script> tags before </head>. $relpath^ is Doxygen's path from the
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# current page back to this build's root, which is how the switcher locates
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# versions.js one level above (the API root) without knowing the site prefix.
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# The dark-mode toggle must be initialized before the page is rendered, so that
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# a reader who picked dark does not get a flash of the light theme.
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FIND_PROGRAM(RTABMAP_DOXYGEN_EXECUTABLE doxygen)
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SET(RTABMAP_DOXYGEN_HEADER "")
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IF(RTABMAP_DOXYGEN_EXECUTABLE)
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SET(RTABMAP_DOXYGEN_HEADER ${PROJECT_BINARY_DIR}/doxygen-header.html)
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EXECUTE_PROCESS(
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COMMAND ${RTABMAP_DOXYGEN_EXECUTABLE} -w html
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${RTABMAP_DOXYGEN_HEADER}
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${PROJECT_BINARY_DIR}/doxygen-footer.html
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${PROJECT_BINARY_DIR}/doxygen-stylesheet.css
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WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
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OUTPUT_QUIET ERROR_QUIET)
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IF(EXISTS ${RTABMAP_DOXYGEN_HEADER})
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FILE(READ ${RTABMAP_DOXYGEN_HEADER} RTABMAP_DOXYGEN_HEADER_CONTENT)
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STRING(REPLACE "</head>"
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"<script type=\"text/javascript\">window.RTABMAP_DOC_ROOT=\"$relpath^\";</script>\n<script type=\"text/javascript\" src=\"$relpath^../versions.js\"></script>\n<script type=\"text/javascript\" src=\"$relpath^version-switcher.js\"></script>\n${RTABMAP_DOXYGEN_AWESOME_SCRIPTS}</head>"
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RTABMAP_DOXYGEN_HEADER_CONTENT "${RTABMAP_DOXYGEN_HEADER_CONTENT}")
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FILE(WRITE ${RTABMAP_DOXYGEN_HEADER} "${RTABMAP_DOXYGEN_HEADER_CONTENT}")
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ELSE()
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SET(RTABMAP_DOXYGEN_HEADER "")
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ENDIF()
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ENDIF()
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# "Parameter reference" page: the parameters are declared through the
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# RTABMAP_PARAM* macros, so Doxygen alone can only show 1900 bare accessors.
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# The generator reads the declarations and emits one table per group, with the
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# key, type, default and description together. Optional: without Python the
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# page is simply left out of INPUT.
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FIND_PACKAGE(Python3 COMPONENTS Interpreter QUIET)
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SET(RTABMAP_DOXYGEN_PARAMETERS_PAGE "")
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IF(Python3_Interpreter_FOUND)
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EXECUTE_PROCESS(
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COMMAND ${Python3_EXECUTABLE}
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${PROJECT_SOURCE_DIR}/doxygen/generate_parameters_page.py
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--input ${PROJECT_SOURCE_DIR}/corelib/include/${PROJECT_PREFIX}/core/Parameters.h
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--output ${PROJECT_BINARY_DIR}/doxygen/parameters.md
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RESULT_VARIABLE RTABMAP_DOXYGEN_PARAMETERS_RESULT
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OUTPUT_QUIET ERROR_QUIET)
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IF(RTABMAP_DOXYGEN_PARAMETERS_RESULT EQUAL 0)
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SET(RTABMAP_DOXYGEN_PARAMETERS_PAGE ${PROJECT_BINARY_DIR}/doxygen/parameters.md)
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ELSE()
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MESSAGE(WARNING "Could not generate the Doxygen parameter reference page.")
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ENDIF()
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ENDIF()
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# Doxyfile with PROJECT_NUMBER filled from RTABMAP_VERSION, so the generated
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# documentation can never drift from the actual version. Its INPUT/OUTPUT paths
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# are relative to the source tree, so run it from there:
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# doxygen <build dir>/Doxyfile
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CONFIGURE_FILE(${PROJECT_SOURCE_DIR}/Doxyfile.in ${PROJECT_BINARY_DIR}/Doxyfile @ONLY)
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ENDMACRO(RTABMAP_SETUP_DOCUMENTATION)
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