Added stereo multi-camera support (#884)

* 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>

corelib/src/CMakeLists.txt

@@ -469,6 +469,13 @@ IF(FastCV_FOUND)
 	)
 ENDIF(FastCV_FOUND)
 
+IF(opengv_FOUND)
+    SET(LIBRARIES
+        ${LIBRARIES}
+        opengv
+    )
+ENDIF(opengv_FOUND)
+
 IF(PDAL_FOUND)
 	SET(INCLUDE_DIRS
 		${INCLUDE_DIRS}