(OpenVSlam): Integrate OpenVSLAM in sight

What does this MR do?

Integrates openvlsam in sight:

• openvslamIO is a library that contains some conversion classes & functions in order to easily convert from/to sight to/from openvslam structures. OpenvslamIO is unit tested.

• openvslamTracker contains SOpenvslam service to interface with openvslam process

  • start/stop/pause/resume tracking
  • Get camera pose for each frames given to the service
  • Get the map as a ::fwData::Mesh pointcloud
  • Save/Load the map.
  • Save Trajectories as .txt files (matrix or vector/quaternions format).

• ExOpenvslam is an example that show all possibilities that offer the openvlsam integration in sight.

Note: this is a preliminary integration so for now openvslam runs only on linux and with monocular perspectives cameras (very classical models).

How to test it?

1. Compile ExOpenvslam
2. Run openvslamIOTest
3. Run ExOpenvslam with provided data, or use your own (monocular camera).
4. Try several menu,options, actions...

Data

You can use the easy SLAM test data available here
it contains:

• calibration (sight format in yml).
• video file (mp4)

Some results

Overview of the application

File Menu

Associated Issues/Merge Requests

Closes #366 (closed)

Openvslam-conan (testing to stable): https://git.ircad.fr/conan/conan-openvslam/merge_requests/1