Added OpenVINS minimal support (tested with EuRoC dataset)

corelib/src/CMakeLists.txt

@@ -91,6 +91,7 @@ SET(SRC_FILES
     odometry/OdometryLOAM.cpp
     odometry/OdometryMSCKF.cpp
     odometry/OdometryVINS.cpp
+    odometry/OdometryOpenVINS.cpp
     
     IMU.cpp
     IMUThread.cpp
@@ -609,6 +610,17 @@ IF(vins_FOUND)
 	)
 ENDIF(vins_FOUND)
 
+IF(ov_msckf_FOUND)
+    SET(INCLUDE_DIRS
+		${ov_msckf_INCLUDE_DIRS}
+		${INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${ov_msckf_LIBRARIES}
+		${LIBRARIES}
+	)
+ENDIF(ov_msckf_FOUND)
+
 IF(ORB_SLAM_FOUND)
     SET(INCLUDE_DIRS
         ${ORB_SLAM_INCLUDE_DIRS} #before so that g2o includes are taken from ORB_SLAM directory before the official g2o one