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Added stereo multi-camera support (#884)

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* Integrated OpenGV

* Fixed build without opengv

* Cmake: moved OpenGV dependency status under solvers group

* Added multi-stereocamera models support

* Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera.

* Fixed multicam 3d points generated from stereo correspondences

* db: Fixed multi stereo models not loaded correctly

* gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration)

* OdomF2M: Fixed map.at error when bundle adjustment is not used

* depthai: added imu firmware update option for convenience

* Fixed various refactor errors

* Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam

* Added error log if ba correspondences are computed with empty signatures

* fixed compilation errors with latest opencv

Co-authored-by: mathieu86 <mathieu@robust.ai>
This commit is contained in:
matlabbe
2022-07-20 15:20:14 -04:00
committed by GitHub
parent 71a28bb570
commit 5943a8b065
64 changed files with 2205 additions and 1010 deletions
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19
CMakeLists.txt
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@@ -212,6 +212,7 @@ option(WITH_OPENVINS "Include OpenVINS support" OFF)
option(WITH_MADGWICK "Include Madgwick IMU filtering support" ON)
option(WITH_FASTCV "Include FastCV support" ON)
option(WITH_OPENMP "Include OpenMP support" ON)
option(WITH_OPENGV "Include OpenGV support" OFF)
IF(MOBILE_BUILD)
option(PCL_OMP "With PCL OMP implementations" OFF)
ELSE()
@@ -721,6 +722,13 @@ IF(WITH_FASTCV)
ENDIF(FastCV_FOUND)
ENDIF(WITH_FASTCV)
IF(WITH_OPENGV)
FIND_PACKAGE(opengv QUIET)
IF(opengv_FOUND)
MESSAGE(STATUS "Found OpenGV: ${opengv_INCLUDE_DIRS}")
ENDIF(opengv_FOUND)
ENDIF(WITH_OPENGV)
IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM QUIET)
IF(ORB_SLAM_FOUND)
@@ -862,6 +870,9 @@ ENDIF(NOT Open3D_FOUND)
IF(NOT FastCV_FOUND)
SET(FASTCV "//")
ENDIF(NOT FastCV_FOUND)
IF(NOT opengv_FOUND)
SET(OPENGV "//")
ENDIF(NOT opengv_FOUND)
IF(NOT PDAL_FOUND)
SET(PDAL "//")
ENDIF(NOT PDAL_FOUND)
@@ -1381,6 +1392,14 @@ ELSE()
MESSAGE(STATUS " With Open3D = NO (Open3D not found)")
ENDIF()
IF(opengv_FOUND)
MESSAGE(STATUS " With OpenGV = YES (License: BSD)")
ELSEIF(NOT WITH_OPENGV)
MESSAGE(STATUS " With OpenGV = NO (WITH_OPENGV=OFF)")
ELSE()
MESSAGE(STATUS " With OpenGV = NO (OpenGV not found)")
ENDIF()
MESSAGE(STATUS "")
MESSAGE(STATUS " Reconstruction Approaches:")
IF(octomap_FOUND)