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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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guilib/src/ExportBundlerDialog.cpp
+6 -6
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@@ -445,10 +445,10 @@ void ExportBundlerDialog::exportBundler(
out << ster.value().sensorData().cameraModels().at(0).fx() << " 0 0\n";
localTransform = ster.value().sensorData().cameraModels().at(0).localTransform();
}
else
else if(ster.value().sensorData().stereoCameraModels().size())
{
out << ster.value().sensorData().stereoCameraModel().left().fx() << " 0 0\n";
localTransform = ster.value().sensorData().stereoCameraModel().left().localTransform();
out << ster.value().sensorData().stereoCameraModels()[0].left().fx() << " 0 0\n";
localTransform = ster.value().sensorData().stereoCameraModels()[0].left().localTransform();
}
Transform pose = iter->second;
@@ -519,10 +519,10 @@ void ExportBundlerDialog::exportBundler(
pt.x = kter->second.kpt.pt.x - s.sensorData().cameraModels().at(0).cx();
pt.y = kter->second.kpt.pt.y - s.sensorData().cameraModels().at(0).cy();
}
else
else if(signatures[camId].sensorData().stereoCameraModels().size())
{
pt.x = kter->second.kpt.pt.x - s.sensorData().stereoCameraModel().left().cx();
pt.y = kter->second.kpt.pt.y - s.sensorData().stereoCameraModel().left().cy();
pt.x = kter->second.kpt.pt.x - s.sensorData().stereoCameraModels()[0].left().cx();
pt.y = kter->second.kpt.pt.y - s.sensorData().stereoCameraModels()[0].left().cy();
}
descriptorIndexes.insert(std::make_pair(camId, 0));
out << " " << cameraIndexes.at(camId) << " " << descriptorIndexes.at(camId)++ << " " << pt.x << " " << -pt.y;