CuVSLAM 14 Update (#1618)

* update cuvslam api call to adhere to new v4.0 changes

* update comment

* parse cuvslam major version from the header and throw an error if theversion doesn't match the expected

* moving average filter + extensive debug logging

* lots more logs

* improvement by turning off use_motion_model in cuvslam config. lots of debug logs.

* slight improvements to velocity guard logic. lots of debug logs

* removing debug logs. working.

* let find_package_handle_standard_args handle the version comparison logic. Custom logic to handle newer then requested major version

* proper warning message if the major version doesn't match

* add back debug logs. Handle no guess transform case.

* adding warnings when no guess transform is provided

* clean up comments

* lowering average window to 5

* moderate odometry mode, 5 value averaging window

* adding comment

* add reset logs to investigate reset issue

* try returning guess or identity on init to avoid reset cascade

* disable motion model again

* big log when tracking

* remove some debug logs

* flag to use original covariance from cuVSLAM

* use raw covariance

* data collection for revised lost detection

* compare guess to estimated transform for lost detection

* re-enable motion model, it appears to reduce false-positives for the new lost detection

* run pose estimation afer init on first frame

* don't initialize if we don't have enough features

* dont warm up GPU everytime we reset

* low estimate velocity guard. Passes all challenges. Debug comments still everywhere.

* Remove debug logs. Add thresholds to header in a config section.

* Cleanup logs

* exposing multi-cam mode as a rtabmap param

* remove max frame delta

* change to use assertion instead of conditional

* replaced some UERROR by UWARN

---------

Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>

CMakeLists.txt

@@ -854,7 +854,7 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 
 IF(WITH_CUVSLAM)
-    FIND_PACKAGE(CuVSLAM)
+    FIND_PACKAGE(CuVSLAM 14.0.0)
     IF(CUVSLAM_FOUND)
         MESSAGE(STATUS "Found cuVSLAM: ${CUVSLAM_INCLUDE_DIRS}")
     ENDIF()