Added OpenVINS minimal support (tested with EuRoC dataset)

corelib/include/rtabmap/core/CameraModel.h

@@ -124,6 +124,7 @@ public:
 	double fovY() const; // in radians
 	double horizontalFOV() const; // in degrees
 	double verticalFOV() const;   // in degrees
+	bool isFisheye() const {return D_.cols == 6;}
 
 	bool load(const std::string & filePath);
 	bool load(const std::string & directory, const std::string & cameraName);

corelib/include/rtabmap/core/Odometry.h

@@ -53,7 +53,8 @@ public:
 		kTypeOkvis = 6,
 		kTypeLOAM = 7,
 		kTypeMSCKF = 8,
-		kTypeVINS = 9
+		kTypeVINS = 9,
+		kTypeOpenVINS = 10
 	};
 
 public:

corelib/include/rtabmap/core/odometry/OdometryOpenVINS.h

@@ -0,0 +1,66 @@
+/*
+Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYOPENVINS_H_
+#define ODOMETRYOPENVINS_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace ov_msckf {
+class VioManager;
+}
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryOpenVINS : public Odometry
+{
+public:
+	OdometryOpenVINS(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryOpenVINS();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeOpenVINS;}
+	virtual bool canProcessRawImages() const {return true;}
+	virtual bool canProcessAsyncIMU() const {return true;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+#ifdef RTABMAP_OPENVINS
+	ov_msckf::VioManager * vioManager_;
+	bool initGravity_;
+	Transform previousPose_;
+	Transform previousLocalTransform_;
+	Transform imuLocalTransform_;
+	std::map<double, IMU> imuBuffer_;
+#endif
+};
+
+}
+
+#endif /* ODOMETRYOPENVINS_H_ */

corelib/include/rtabmap/core/odometry/OdometryVINS.h

@@ -51,7 +51,6 @@ private:
 private:
 #ifdef RTABMAP_VINS
 	VinsEstimator * vinsEstimator_;
-	int imagesProcessed_;
 	bool initGravity_;
 	Transform previousPose_;
 	Transform previousLocalTransform_;