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>

docker/bionic/Dockerfile

@@ -101,6 +101,20 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
     make install && \
     cd && \
     rm -r AliceVision; fi
+    
+RUN git clone https://github.com/laurentkneip/opengv.git
+#commit Aug 6 2020
+RUN cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    ~/cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r opengv
 
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
@@ -110,7 +124,7 @@ COPY . /root/rtabmap
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
-    ~/cmake -DWITH_ALICE_VISION=ON .. && \
+    ~/cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
     make -j$(nproc) && \
     make install && \
     cd ../.. && \

docker/focal/Dockerfile

@@ -153,6 +153,20 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
     make install && \
     cd && \
     rm -r AliceVision; fi
+    
+RUN git clone https://github.com/laurentkneip/opengv.git
+#commit Aug 6 2020
+RUN cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r opengv
 
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
@@ -162,7 +176,7 @@ COPY . /root/rtabmap
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
-    cmake -DWITH_ALICE_VISION=ON .. && \
+    cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
     make -j$(nproc) && \
     make install && \
     cd ../.. && \