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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 <[email protected]>
This commit is contained in:
matlabbe
2022-07-20 15:20:14 -04:00
committed by GitHub
co-authored by mathieu86
parent 71a28bb570
commit 5943a8b065
64 changed files with 2205 additions and 1010 deletions
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corelib/src/Rtabmap.cpp
+3 -3
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@@ -5007,10 +5007,10 @@ Signature Rtabmap::getSignatureCopy(int id, bool images, bool scan, bool userDat
if(!images && withWords)
{
std::vector<CameraModel> models;
StereoCameraModel stereoModel;
_memory->getNodeCalibration(id, models, stereoModel);
std::vector<StereoCameraModel> stereoModels;
_memory->getNodeCalibration(id, models, stereoModels);
data.setCameraModels(models);
data.setStereoCameraModel(stereoModel);
data.setStereoCameraModels(stereoModels);
}
s=Signature(id,