CuVSLAM VO Strategy (#1583)

* integrating cuvslam, stereo cam initialization

* fixing transformations

* use isaac ros TocuVSLAMPose

* organizing

* handling covariance conversion

* cleaning up config

* moving cmake instructions to FindCuVSLAM.cmake file

* fixing ui integration

* updating software license for cuvslam

* improving memory management

* cleaning up header more

* reverting mistake in GUI

* using opaque pointers for header definitions, compiles

* back to typed definitions using forward-referencing

* fixing dangling pointer

* cleaning up

* fixing variable scope issues

* Using cuda to allocate gpu memory

* fixing transfrom from cuvslam back to ros coordinate frame

* reducing excessive logs

* removing redundant if true in cuvslam cmake

* moving find cuda into cuvslam cmake

* cleaning cmake to use modern target

* adding copyright line

* Finding tf2 and eigen3 in cmake

* simplifying clean up logic

* better logs

* moving cuvslam implementation methods into cpp

* fixing build with implmentation function declarations moved to the cpp

* cleaning transformation logic and adding grayscale support

* typo

* removing unecessary class member variable for processed images

* remove trailing underscore from initialize cuvslam function signature

* locally scoping config params since they are copied by cuvslam

* removing unecessary member variables and using locally scoped values since cuvslam seems to copy them

* more cleaning and refactoring

* fixing cmake inconsistancies and surpress warning

* fixing up baseline transform

* trying to remove tf2 for transformations

* fixing incorect baseline transform swap

* comment, begin reset logic investigation

* better handling of previous pose and transform during error cases

* hunting for reset bug, not found

* observation export implementatin, currently getting strange errors

* multi cam support

* Memory fixes

* comments

* make cuda stream a member variable so it isn't initialized and destroyed on every frame

* preparing to add ground constraints

* adding ground constraints, working

* adding wheel odom fusion into cuvslam tracker

* parsing parameter to apply planar constraints

* removing planar constraint in config, doesn't do anything

* using proper cuda stream type for member variable

* cleaning up for merge

* only parse params when cuvslam is compiled

* updating error message if using rgb-d instead of stereo

* removing wheel odom testing logs

* reverting bgr to rgb conversion

* fixing initial pose logic

* return null transform on invalid covariance

* debugging covariance

* guard against low velocity situations where cuvslam covariance spikes, but we aren't lost

* cleaning things up

---------

Co-authored-by: Felix Toft <felix@robust.ai>
Co-authored-by: matlabbe <matlabbe@gmail.com>

CMakeLists.txt

@@ -220,6 +220,7 @@ option(WITH_OKVIS         "Include OKVIS support"                OFF)
 option(WITH_MSCKF_VIO     "Include MSCKF_VIO support"            OFF)
 option(WITH_VINS_FUSION   "Include VINS-Fusion support"          OFF)
 option(WITH_OPENVINS      "Include OpenVINS support"             OFF)
+option(WITH_CUVSLAM       "Include cuVSLAM support"              OFF)
 option(WITH_MADGWICK      "Include Madgwick IMU filtering support" ON)
 option(WITH_FASTCV        "Include FastCV support"               ON)
 option(WITH_OPENMP        "Include OpenMP support"               ON)
@@ -849,6 +850,13 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
     ENDIF(ORB_SLAM_FOUND)
 ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 
+IF(WITH_CUVSLAM)
+    FIND_PACKAGE(CuVSLAM QUIET)
+    IF(CUVSLAM_FOUND)
+        MESSAGE(STATUS "Found cuVSLAM: ${CUVSLAM_INCLUDE_DIRS}")
+    ENDIF()
+ENDIF(WITH_CUVSLAM)
+
 SET(DISABLE_NEW_DTAGS_FLAG "--disable-new-dtags")
 IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
     ADD_LINK_OPTIONS(LINKER:${DISABLE_NEW_DTAGS_FLAG})
@@ -1111,6 +1119,9 @@ ENDIF()
 IF(NOT ov_msckf_FOUND)
    SET(OPENVINS "//")
 ENDIF()
+IF(NOT CUVSLAM_FOUND)
+   SET(CUVSLAM "//")
+ENDIF()
 IF(NOT ORB_SLAM_FOUND)
    SET(ORB_SLAM "//")
 ENDIF()
@@ -1828,6 +1839,14 @@ ELSE()
 MESSAGE(STATUS "  With ORB_SLAM             = NO (ORB_SLAM2 and ORB_SLAM3 not found, make sure environment variable ORB_SLAM_ROOT_DIR is set)")
 ENDIF()
 
+IF(CUVSLAM_FOUND)
+MESSAGE(STATUS "  With cuVSLAM              = YES (License: NVIDIA ISAAC ROS SOFTWARE LICENSE)")
+ELSEIF(NOT WITH_CUVSLAM)
+MESSAGE(STATUS "  With cuVSLAM              = NO (WITH_CUVSLAM=OFF)")
+ELSE()
+MESSAGE(STATUS "  With cuVSLAM              = NO (cuVSLAM not found, make sure cuVSLAM is installed)")
+ENDIF()
+
 MESSAGE(STATUS "Show all options with: cmake -LA | grep WITH_")
 MESSAGE(STATUS "--------------------------------------------")