Adding OpenCV's GPU GFTT/ OpticalFlow and CudaSift support (#1330)

* Adding GFTT and SIFT Cuda support

* Working CudaSift

* Disable cudasift option when not available

* Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors

* Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv

* Refactored how maximum features are thresholded, to be more similar to OpenCV version

* Updated loop closure benchmark scripts

* Cuda optical flow tmp commit

* Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences)

* Fixed build without opencv cuda

* Fixed build with Opencv 4.10

* ZED: updated parameters to match zed sdk 4

* MRPT requires C++17

* updated max octave limit CudaSift

corelib/src/Parameters.cpp

@@ -236,6 +236,9 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
 	{
 		// removed parameters
 
+		// 0.21.7
+		removedParameters_.insert(std::make_pair("SIFT/NFeatures",    std::make_pair(false, "")));
+
 		// 0.21.3
 		removedParameters_.insert(std::make_pair("GridGlobal/FullUpdate",    std::make_pair(false, "")));
 
@@ -682,6 +685,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
 #else
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
+#endif
+				str = "With CudaSift:";
+#ifdef RTABMAP_CUDASIFT
+				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
+#else
+				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
 #endif
 				str = "With TORO:";
 #ifdef RTABMAP_TORO