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/camera/CameraDepthAI.cpp

@@ -55,7 +55,8 @@ CameraDepthAI::CameraDepthAI(
 	deviceSerial_(deviceSerial),
 	outputDepth_(false),
 	depthConfidence_(200),
-	resolution_(resolution)
+	resolution_(resolution),
+	imuFirmwareUpdate_(false)
 #endif
 {
 #ifdef RTABMAP_DEPTHAI
@@ -86,6 +87,15 @@ void CameraDepthAI::setOutputDepth(bool enabled, int confidence)
 #endif
 }
 
+void CameraDepthAI::setIMUFirmwareUpdate(bool enabled)
+{
+#ifdef RTABMAP_DEPTHAI
+	imuFirmwareUpdate_ = enabled;
+#else
+	UERROR("CameraDepthAI: RTAB-Map is not built with depthai-core support!");
+#endif
+}
+
 bool CameraDepthAI::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
 	UDEBUG("");
@@ -195,6 +205,8 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
 	// Link plugins IMU -> XLINK
 	imu->out.link(xoutIMU->input);
 
+	imu->enableFirmwareUpdate(imuFirmwareUpdate_);
+
 	device_.reset(new dai::Device(p, deviceToUse));
 
 	UINFO("Loading eeprom calibration data");