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 <[email protected]>
Co-authored-by: matlabbe <[email protected]>

guilib/src/ui/aboutDialog.ui

@@ -1633,6 +1633,39 @@ p, li { white-space: pre-wrap; }
                 </property>
                </widget>
               </item>
+              <item row="50" column="0">
+               <widget class="QLabel" name="label_48">
+                <property name="text">
+                 <string>With cuVSLAM :</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="50" column="1">
+               <widget class="QLabel" name="label_cuvslam">
+                <property name="text">
+                 <string/>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="50" column="2">
+               <widget class="QLabel" name="label_cuvslam_license">
+                <property name="text">
+                 <string>NVIDIA ISAAC ROS SOFTWARE LICENSE</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
               <item row="46" column="0">
                <widget class="QLabel" name="label_36">
                 <property name="text">

guilib/src/ui/preferencesDialog.ui

@@ -15728,6 +15728,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                           <string>Open3D</string>
                          </property>
                         </item>
+                        <item>
+                         <property name="text">
+                          <string>CuVSLAM</string>
+                         </property>
+                        </item>
                        </widget>
                       </item>
                       <item row="3" column="1">