0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

corelib/src/CMakeLists.txt

@@ -66,8 +66,11 @@ SET(SRC_FILES
 	OdometryFovis.cpp
 	OdometryViso2.cpp
 	OdometryDVO.cpp
+	OdometryOkvis.cpp
 	OdometryORBSLAM2.cpp
 	
+	IMUThread.cpp
+	
 	Stereo.cpp
 	StereoDense.cpp
 	StereoCameraModel.cpp
@@ -345,6 +348,23 @@ IF(dvo_core_FOUND)
 	)
 ENDIF(dvo_core_FOUND)
 
+IF(okvis_FOUND)
+    SET(INCLUDE_DIRS
+		${OKVIS_INCLUDE_DIRS}
+		${BRISK_INCLUDE_DIRS}
+		${OPENGV_INCLUDE_DIRS}
+		${CERES_INCLUDE_DIRS}
+		${INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${OKVIS_LIBRARIES}
+		${BRISK_LIBRARIES}
+		${OPENGV_LIBRARIES}
+		${CERES_LIBRARIES}
+		${LIBRARIES}
+	)
+ENDIF(okvis_FOUND)
+
 IF(ORB_SLAM2_FOUND)
     SET(INCLUDE_DIRS
         ${ORB_SLAM2_INCLUDE_DIRS} #before so that g2o includes are taken from ORB_SLAM2 directory before the official g2o one