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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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15
guilib/src/CloudViewer.cpp
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@@ -3008,6 +3008,21 @@ void CloudViewer::updateCameraFrustums(const Transform & pose, const std::vector
}
}
}
void CloudViewer::updateCameraFrustums(const Transform & pose, const std::vector<StereoCameraModel> & stereoModels)
{
std::vector<CameraModel> models;
for(size_t i=0; i<stereoModels.size(); ++i)
{
models.push_back(stereoModels[i].left());
CameraModel right = stereoModels[i].right();
if(!stereoModels[i].left().localTransform().isNull())
{
right.setLocalTransform(stereoModels[i].left().localTransform() * Transform(stereoModels[i].baseline(), 0, 0, 0, 0, 0));
}
models.push_back(right);
updateCameraFrustums(pose, models);
}
}
const QColor & CloudViewer::getDefaultBackgroundColor() const
{