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>

cmake_modules/FindCuVSLAM.cmake

@@ -4,6 +4,7 @@
 #
 # It sets the following variables:
 #  CUVSLAM_FOUND         - Set to false, or undefined, if cuVSLAM isn't found.
+#  CUVSLAM_VERSION       - The version of cuVSLAM found (e.g., "14.0.0").
 #  CUVSLAM_INCLUDE_DIRS  - The cuVSLAM include directory.
 #  CUVSLAM_LIBRARIES     - The cuVSLAM library to link against.
 
@@ -33,7 +34,18 @@ find_library(CUVSLAM_LIBRARY
 )
 
 if(CUVSLAM_INCLUDE_DIRS AND CUVSLAM_LIBRARY)
-    set(CUVSLAM_FOUND TRUE)
+    # Extract version from cuvslam.h header
+    file(STRINGS "${CUVSLAM_INCLUDE_DIRS}/cuvslam.h" CUVSLAM_VERSION_MAJOR_LINE 
+         REGEX "^#define CUVSLAM_API_VERSION_MAJOR")
+    file(STRINGS "${CUVSLAM_INCLUDE_DIRS}/cuvslam.h" CUVSLAM_VERSION_MINOR_LINE 
+         REGEX "^#define CUVSLAM_API_VERSION_MINOR")
+    
+    if(CUVSLAM_VERSION_MAJOR_LINE AND CUVSLAM_VERSION_MINOR_LINE)
+        string(REGEX MATCH "[0-9]+" CUVSLAM_VERSION_MAJOR "${CUVSLAM_VERSION_MAJOR_LINE}")
+        string(REGEX MATCH "[0-9]+" CUVSLAM_VERSION_MINOR "${CUVSLAM_VERSION_MINOR_LINE}")
+        set(CUVSLAM_VERSION "${CUVSLAM_VERSION_MAJOR}.${CUVSLAM_VERSION_MINOR}.0")
+    endif()
+    
     set(CUVSLAM_LIBRARIES 
         ${CUVSLAM_LIBRARY} 
         ${CUDA_LIBRARIES}
@@ -46,11 +58,35 @@ if(CUVSLAM_INCLUDE_DIRS AND CUVSLAM_LIBRARY)
     )
 endif()
 
+# Version compatibility check - cuVSLAM only guarantees API compatibility within the same major version
+set(CUVSLAM_VERSION_MISMATCH_REASON "")
+if(CuVSLAM_FIND_VERSION AND CUVSLAM_VERSION)
+    string(REGEX MATCH "^[0-9]+" REQUESTED_MAJOR_VERSION "${CuVSLAM_FIND_VERSION}")
+    if(NOT CUVSLAM_VERSION_MAJOR EQUAL REQUESTED_MAJOR_VERSION)
+        set(CUVSLAM_VERSION_MISMATCH_REASON "Major version mismatch: found ${CUVSLAM_VERSION_MAJOR}.x but requested ${REQUESTED_MAJOR_VERSION}.x.\ncuVSLAM only guarantees API compatibility within the same major version.\nPlease install cuVSLAM ${REQUESTED_MAJOR_VERSION}.x or update CMakeLists.txt to request version ${CUVSLAM_VERSION_MAJOR}.0.0")
+        
+        if(CuVSLAM_FIND_REQUIRED)
+            message(FATAL_ERROR 
+                "cuVSLAM major version mismatch: found version ${CUVSLAM_VERSION} but version ${CuVSLAM_FIND_VERSION} is required.\n"
+                "cuVSLAM only guarantees API compatibility within the same major version.\n"
+                "Found major version ${CUVSLAM_VERSION_MAJOR} is not compatible with requested major version ${REQUESTED_MAJOR_VERSION}.\n"
+                "Please install cuVSLAM ${REQUESTED_MAJOR_VERSION}.x or update CMakeLists.txt to request version ${CUVSLAM_VERSION_MAJOR}.x."
+            )
+        else()
+            # Clear the found variables to indicate incompatibility
+            unset(CUVSLAM_LIBRARIES)
+            unset(CUVSLAM_INCLUDE_DIRS)
+        endif()
+    endif()
+endif()
+
 # Handle the QUIET and REQUIRED arguments
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(CuVSLAM
     FOUND_VAR CUVSLAM_FOUND
     REQUIRED_VARS CUVSLAM_LIBRARIES CUVSLAM_INCLUDE_DIRS
+    VERSION_VAR CUVSLAM_VERSION
+    REASON_FAILURE_MESSAGE "${CUVSLAM_VERSION_MISMATCH_REASON}"
     HANDLE_COMPONENTS
 )
 
@@ -64,16 +100,6 @@ if(CUVSLAM_FOUND)
             INTERFACE_LINK_LIBRARIES "${CUVSLAM_LIBRARIES};Eigen3::Eigen"
         )
     endif()
-    
-    # Show which cuVSLAM was found only if not quiet
-    if(NOT CUVSLAM_FIND_QUIETLY)
-        message(STATUS "Found cuVSLAM: ${CUVSLAM_LIBRARIES}")
-    endif()
-else()
-    # Fatal error if cuVSLAM is required but not found
-    if(CUVSLAM_FIND_REQUIRED)
-        message(FATAL_ERROR "Could not find cuVSLAM library")
-    endif()
 endif()
 
 mark_as_advanced(CUVSLAM_INCLUDE_DIRS CUVSLAM_LIBRARY)