Develop v2.7 - IMU Intrinsic Support

[goldbattle]

Key Changes

• IMU intrinsic support has been added
  • Support corrections to IMU readings using intrinsics
  • Online calibration of parameters
  • Simulator support to verify performance
• Updated documentation
  • Discrete and analytical IMU propagation docs have been separated out
  • FEJ docs has been expanded
  • A few other improvements throughout the codebase
  • Fix ov_eval documentation typo #333 in ov_eval utility
• Stereo tracking improvements
  • Fix points in pts0_new (new keypoints in left camera) might be unexpectedly rejected because of out-of-bound points in pts1_new (keypoints in right camera) #332 chance reject of features out of bounds
  • Fix bad masking logic, so features should be detected more reliably

The IMU intrinsics code was released in relation to the following publication:

Yang, Yulin, Patrick Geneva, Xingxing Zuo, and Guoquan Huang. "Online Self-Calibration for Visual-Inertial Navigation: Models, Analysis and Degeneracy." IEEE Transactions on Robotics, 2023.
https://pgeneva.com/downloads/preprints/Yang2023TRO.pdf

Example fixed masks in stereo tracking:

openvins_stereo_masks.mp4

[goldbattle]

Need to ensure that ov_init uses the IMU intrinsic values still.