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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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examples/WifiMapping/MapBuilder.h
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@@ -129,7 +129,7 @@ protected Q_SLOTS:
if(odom.data().depthOrRightRaw().cols == odom.data().imageRaw().cols &&
odom.data().depthOrRightRaw().rows == odom.data().imageRaw().rows &&
!odom.data().depthOrRightRaw().empty() &&
(odom.data().stereoCameraModel().isValidForProjection() || odom.data().cameraModels().size()))
(odom.data().stereoCameraModels().size() || odom.data().cameraModels().size()))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
odom.data(),