Fix bugs in covariance estimation for some cases

[jlblancoc]

Summary by CodeRabbit

• Bug Fixes

  • Corrected covariance calculation indexing in pose alignment operations to ensure accurate error term computation.

• Tests

  • Added comprehensive test suite for covariance-to-covariance ICP functionality, validating pose convergence, covariance matrix properties, robustness kernel handling, and performance with large-scale pairings.

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[coderabbitai]

📝 Walkthrough

Walkthrough

This pull request updates the mola_common submodule, refines covariance calculation logic with corrected indexing and type casting in the MP2P-ICP library, enables a previously disabled test target, and introduces a comprehensive test suite for cov2cov (covariance-to-covariance) ICP functionality with ten distinct test cases covering convergence, robustness, and performance scenarios.

Changes

Cohort / File(s)	Summary
Submodule Update 3rdparty/mola_common	Updates submodule pointer from commit 309fd4e to 1745045d; no functional code changes introduced.
Covariance Calculation Logic mp2p_icp/src/covariance.cpp	Corrects pose component initialization (from index 0 to index 2), adds explicit static_cast<int> for MRPT block indices, adjusts base-index progression with scaled increments (multiplying by dimensions: \*4, \*3), and updates error-term block indexing for point-to-point, point-to-line, line-to-line, point-to-plane, and plane-to-plane sections; updates cov-to-cov indexing formula and covariance assignment logic.
Test Infrastructure & Suite tests/CMakeLists.txt, tests/test-mp2p_cov2cov.cpp	Enables new test target mp2p_cov2cov in CMakeLists; adds 609-line comprehensive C++ test suite with helper utilities for ground-truth pose and pairing generation, ten distinct test cases covering convergence, covariance validity, outlier robustness, edge cases, and large-scale (500+) pairings, plus validation logic for pose accuracy and covariance properties (symmetry, positive-definiteness, magnitude bounds).

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~22 minutes

Poem

🐰 With indices cast and dimensions aligned,
Covariance flows in perfect design,
Ten tests hop forth to verify each case,
From convergence to robustness—checked with grace!
Math precision squared, our fuzzy friend's delight. 🧮✨

🚥 Pre-merge checks | ✅ 3

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title 'Fix bugs in covariance estimation for some cases' directly relates to the main changes: bug fixes in covariance handling (covariance.cpp), addition of comprehensive cov2cov tests, and submodule updates supporting the fix.
Docstring Coverage	✅ Passed	Docstring coverage is 80.00% which is sufficient. The required threshold is 80.00%.

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✨ Finishing touches

• 📝 Generate docstrings

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[codecov]

Codecov Report

❌ Patch coverage is 91.90939% with 25 lines in your changes missing coverage. Please review.
✅ Project coverage is 67.32%. Comparing base (8c3f819) to head (3ea9c40).
⚠️ Report is 3 commits behind head on develop.

Files with missing lines	Patch %	Lines
tests/test-mp2p_cov2cov.cpp	95.53%	13 Missing ⚠️
mp2p_icp/src/covariance.cpp	33.33%	12 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##           develop      #29      +/-   ##
===========================================
+ Coverage    66.19%   67.32%   +1.13%     
===========================================
  Files          165      166       +1     
  Lines         8100     8393     +293     
  Branches       879      892      +13     
===========================================
+ Hits          5362     5651     +289     
- Misses        2738     2742       +4     

Files with missing lines	Coverage Δ
mp2p_icp/src/covariance.cpp	83.09% <33.33%> (+12.08%)	⬆️
tests/test-mp2p_cov2cov.cpp	95.53% <95.53%> (ø)

... and 1 file with indirect coverage changes

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