rtabmap Files

First, a big thanks for our new contributors (see below) and everyone reporting/discussing issues!

Dependencies included in the Windows binaries:

• Core: OpenCV 4.7.0 with xfeatures2d and nonfree modules (GPU options enabled on CUDA 11.7 release), PCL 1.14.0 with VTK 9.2.20220823, Qt 6.6.1.
• Drivers:
  • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro, Orbbec Astra) *Kinect for XBOX 360 reported not working on Windows 11 (but works on Windows 10),
  • Freenect2 (UsbDk v1.00-22 should be installed, cuda pipeline available in cuda11.7 release),
  • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
  • Kinect For Azure,
  • RealSense2 2.54.2 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
  • Tara (side by side opencv video capture),
  • ZED SDK 4.0.8 (enabled on cuda11.7 release),
  • DepthAI 2.24.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o 2020-02-07, GTSAM 4.0.0, Ceres 2.1
• ICP: libpointmatcher 1.3.1, CCCoreLib 1.0
• Reconstruction: OctoMap
• DNN: SuperPoint support with libtorch (enabled on cuda11.7 release)

Dependencies included in the MacOS binaries:

• Core: OpenCV 4.9.0 with xfeatures2d and nonfree modules, PCL 1.14.0 with VTK 9.2.6, Qt 6.6.1.
• Drivers:
  • RealSense2 2.54.2 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used) *may crash on some systems or require launching with sudo (e.g., not currently working on M1 Sonoma),
  • Tara (side by side opencv video capture),
  • DepthAI 2.24.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o, GTSAM 4.1.0
• ICP: libpointmatcher 1.3.1
• Reconstruction: OctoMap 1.98
• Homebrew binaries now available: brew install rtabmap. Note that it has only basic dependencies to visualize, edit or post-process databases (e..g, coming from RTAB-Map for iOS app).

What's Changed

• Fix RGBD with ORB SLAM by @PonyPC in https://github.com/introlab/rtabmap/pull/991
• explicitly set deps to install instead of relying on buildfarm by @matlabbe in https://github.com/introlab/rtabmap/pull/1012
• Added RGBD/LocalizationSmoothing parameter and fixed related issues by @matlabbe in https://github.com/introlab/rtabmap/pull/1032
• Fixed build with gtsam 4.3.0 by @matlabbe in https://github.com/introlab/rtabmap/pull/1033
• Update DepthAI Integration by @borongyuan in https://github.com/introlab/rtabmap/pull/1034
• fixes for texture mesh export for pcl > 1.13.0 by @arrlee in https://github.com/introlab/rtabmap/pull/1039
• Support cameras with different fx and fy, enable alphaScaling for OAK cameras by @borongyuan in https://github.com/introlab/rtabmap/pull/1042
• add depthai gftt detector by @borongyuan in https://github.com/introlab/rtabmap/pull/1047
• Add Depthai SuperPoint by @borongyuan in https://github.com/introlab/rtabmap/pull/1058 (see https://github.com/borongyuan/depthai-superpoint for superpoint blob files to load on oak)
• OAK-D PoE Update by @borongyuan in https://github.com/introlab/rtabmap/pull/1094
• Motion estimation: use MultiNoncentralAbsolutePoseSacProblem to estim… by @guoqingzh in https://github.com/introlab/rtabmap/pull/1091
• MSCKF_VIO Update by @borongyuan in https://github.com/introlab/rtabmap/pull/1097
• fix ros gtsam 4.2a9 build by @borongyuan in https://github.com/introlab/rtabmap/pull/1108
• CMake: Add compatibility for yaml-cpp 0.8.0. by @FtZPetruska in https://github.com/introlab/rtabmap/pull/1115
• Update OAK stereo config and IMU rate by @borongyuan in https://github.com/introlab/rtabmap/pull/1116
• fix for Undefined symbols for architecture x86_64: "Nabo::NearestNeighbourSearch<double... when link to libpointmatcher by @cdb0y511 in https://github.com/introlab/rtabmap/pull/1117
• use AUTOUIC, AUTOMOC and AUTORCC instead of QTX_WRAP_UI, QTX_WRAP_CPP, QTX_ADD_RESOURCES by @cdb0y511 in https://github.com/introlab/rtabmap/pull/1135
• Add Histogram Equalization by @borongyuan in https://github.com/introlab/rtabmap/pull/1137
• OpenVINS Update by @borongyuan in https://github.com/introlab/rtabmap/pull/1107
• Update odometry info of OpenVINS by @borongyuan in https://github.com/introlab/rtabmap/pull/1142
• OAK bug fixes and improvements by @borongyuan in https://github.com/introlab/rtabmap/pull/1143
• Supplement and Adjust OpenVINS Parameters by @borongyuan in https://github.com/introlab/rtabmap/pull/1145
• Add missing filterKeypointsByDepth step by @borongyuan in https://github.com/introlab/rtabmap/pull/1150
• transform features after source images decimation by @borongyuan in https://github.com/introlab/rtabmap/pull/1154
• Tuning localization priors (added RGBD/LocalizationPriorError parameter) by @matlabbe in https://github.com/introlab/rtabmap/pull/1156
• fix protocol detection for undiscoverable devices by @borongyuan in https://github.com/introlab/rtabmap/pull/1159
• Updating orbslam3 v1 support by @matlabbe in https://github.com/introlab/rtabmap/pull/1152
• start outputting data after static initialization by @borongyuan in https://github.com/introlab/rtabmap/pull/1171
• improve NMS implementation by @borongyuan in https://github.com/introlab/rtabmap/pull/1173
• Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera by @matlabbe in https://github.com/introlab/rtabmap/pull/1182
• Add RGBD mode for OAK camera by @borongyuan in https://github.com/introlab/rtabmap/pull/1179
• GridMap integration by @matlabbe in https://github.com/introlab/rtabmap/pull/1180
• Reimplement NMS using morphological operations by @borongyuan in https://github.com/introlab/rtabmap/pull/1192
• support color histogram equalization by @borongyuan in https://github.com/introlab/rtabmap/pull/1203
• SuperPoint Torch Simple NMS by @borongyuan in https://github.com/introlab/rtabmap/pull/1213

Full Changelog: https://github.com/introlab/rtabmap/compare/0.21.0...0.21.4

New Contributors

• @PonyPC made their first contribution in https://github.com/introlab/rtabmap/pull/991
• @borongyuan made their first contribution in https://github.com/introlab/rtabmap/pull/1034
• @arrlee made their first contribution in https://github.com/introlab/rtabmap/pull/1039
• @guoqingzh made their first contribution in https://github.com/introlab/rtabmap/pull/1091
• @FtZPetruska made their first contribution in https://github.com/introlab/rtabmap/pull/1115
• @cdb0y511 made their first contribution in https://github.com/introlab/rtabmap/pull/1117

Other

• Looking for ICP configuration file for L515 and Kinect Azure, see release 0.20.8.
• Windows High CPU Usage: this can be related to OpenMP, try setting environment variable OMP_WAIT_POLICY to passive.
• SuperPoint weights can be downloaded in assets below for convenience (tested with CUDA release).
• See Installation page for additional installation instructions depending on your platform and the camera you are using (e.g., drivers).