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5aec9bacec
* 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>