Added FastCV support (see FAST/CV parameter). VWDictionary: loading fixed dictionary only on updates (to avoid loading it multiple times when memory is reset).

CMakeLists.txt

@@ -192,6 +192,7 @@ option(WITH_OKVIS         "Include OKVIS support"                ON)
 option(WITH_MSCKF_VIO     "Include MSCKF_VIO support"           OFF)
 option(WITH_VINS          "Include VINS-Fusion support"          ON)
 option(WITH_MADGWICK      "Include Madgwick IMU filtering support" ON)
+option(WITH_FASTCV        "Include FastCV support"               ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
@@ -517,6 +518,12 @@ IF(WITH_VINS)
     ENDIF(vins_FOUND)
 ENDIF(WITH_VINS)
 
+IF(WITH_FASTCV)
+    FIND_PACKAGE(FastCV QUIET)
+    IF(FastCV_FOUND)
+       MESSAGE(STATUS "Found FastCV: ${FastCV_INCLUDE_DIRS}")
+    ENDIF(FastCV_FOUND)
+ENDIF(WITH_FASTCV)
 
 IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
     FIND_PACKAGE(ORB_SLAM2 QUIET)
@@ -645,6 +652,9 @@ ENDIF()
 IF(NOT libpointmatcher_FOUND)
    SET(POINTMATCHER "//")
 ENDIF(NOT libpointmatcher_FOUND)
+IF(NOT FastCV_FOUND)
+   SET(FASTCV "//")
+ENDIF(NOT FastCV_FOUND)
 IF(NOT loam_velodyne_FOUND)
    SET(LOAM "//")
 ENDIF(NOT loam_velodyne_FOUND)
@@ -977,6 +987,14 @@ IF(OpenCV_FOUND)
   ENDIF()
 ENDIF(OpenCV_FOUND)
 
+IF(FastCV_FOUND)
+MESSAGE(STATUS "  With FastCV               = YES (License: Apache v2)")
+ELSEIF(NOT WITH_FASTCV)
+MESSAGE(STATUS "  With FastCV               = NO (WITH_FASTCV=OFF)")
+ELSE()
+MESSAGE(STATUS "  With FastCV               = NO (FastCV not found)")
+ENDIF()
+
 IF(Sqlite3_FOUND)
 MESSAGE(STATUS "  With external SQLite3     = YES (License: Public Domain)")
 ELSE()