Rtabmap Versions Save

RTAB-Map library and standalone application

0.21.4

2 months ago

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

Dependencies included in the Windows binaries:

Dependencies included in the MacOS binaries:

What's Changed

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

New Contributors

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).

Downloads

0.21.0

1 year ago

Standalone changes

Library changes

  • RTAB-Map library now uses CMake targets to make it easier to include in another cmake project. 
    find_package(RTABMap REQUIRED)
target_link_libraries(MyApp rtabmap::core)
  • Updated compilation instructions on Windows, now using officially vcpkg for main dependencies.
  • Added option to set priors on markers (automatically transform map in world coordinates)
  • [ROS] Multi-camera visual odometry and localization support (build with OpenGV dependency).
  • [ROS] On Noetic and ROS2, the rtabmap_ros package has been split into sub packages (you can now get all message definitions without installing everything, only ros-$ROS_DISTRO-rtabmap-msgs). See migration guide here. For example: 
    <!-- Before: -->
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap"/>
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry"/>
<!-- Now: -->
<node pkg="rtabmap_slam" type="rtabmap" name="rtabmap"/>
<node pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry"/>
  • [Android] Added recovery feature, android 30 support, fixed various bugs
  • [iOS] Improved significantly rendering performance on latest iPhones
  • [Docker] Added 22.04 / Jammy image
  • Improved stability and many bug fixes as seen below.

Full Changelog: https://github.com/introlab/rtabmap/compare/0.20.16...0.21.0

Pull requests

New Contributors

Dependencies included in the Windows binaries:

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).

Full Changelog: https://github.com/introlab/rtabmap/compare/0.20.16...0.21.0

Downloads

0.20.16

2 years ago

Standalone changes

  • DUO mode extended to any combination of cameras (not only T265+L515 or D435). For example, using T265 odometry with a Kinect Azure camera for RGB/depth, or ZED camera for odometry with a Realsense L515 camera for RGB/depth. Added extrinsics calibration tool between the cameras for convenience. See "Preferences->Odometry Sensor" section for more info.
  • Added SuperPoint support (included in cuda11-1 release below).
  • Added DepthAI support (OAK-D camera).
  • Improved localization accuracy with and without AprilTags.

Pull requests

New Contributors

Dependencies included in the Windows binaries:

  • Core: OpenCV 4.5.0 with xfeatures2d and nonfree modules (GPU options enabled on cuda11.1 release), PCL 1.11.1 with VTK 8.2.0 (enabling EDL shader option), Qt5.15.2, libpointmatcher
  • Drivers:
    • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro, Orbbec Astra),
    • Freenect2 (UsbDk should be installed),
    • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
    • Kinect For Azure,
    • RealSense (ZR300, R200),
    • RealSense2 2.40.0 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
    • Tara,
    • Mynt Eye S SDK,
    • ZED SDK 3.3.3 (enabled on cuda11.1 release),
    • DepthAI (OAK-D)
  • Optimizers: TORO, g2o, GTSAM
  • Reconstruction: OctoMap, CPUTSDF

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.
  • See Installation page for additional installation instructions depending on your platform and the camera you are using (e.g., drivers).

Full Changelog: https://github.com/introlab/rtabmap/compare/0.20.8...0.20.16

Downloads

0.20.8

3 years ago

Release notes:

  • Major updates:
    • Updated default parameters to avoid getting lost easily with HD sensors:
      • GFTT/MinDistance is now 7,
      • Vis/CorGuessWinSize is now 40,
      • Optimizer/GravitySigma is now 0.3 (enabling gravity constraints so that the map is aligned with gravity by default).
    • When selecting sensors from the Detection->Select source... menu, if the sensor has IMU capability, we automatically enable Madgwick filter (except for zed cameras as they give the quaternion directly). For L515, we adjust the default RGB size to a compatible one (1280x720x30).
      • L515: added support for latest firmware 1.5.3, we also rescale down the depth image after registration to save computation time and memory.
      • ZED-Mini/ ZED2: we wait for a valid quaternion before sending frame data, so that odometry can always start aligned with gravity.
      • Kinect For Azure: set rendering ROI to "0.05 0.05 0.05 0.05" to avoid black lines in the 3D map (because of RGB rectification).
    • Added config below for Kinect For Azure and L515 lighting invariant mode (ICP odometry), more info here.
  • Dependencies included in the Windows binaries:
    • Core: OpenCV 4.5.0 with xfeatures2d and nonfree modules (GPU options enabled on cuda11.1 release), PCL 1.11.1 with VTK 8.2.0 (enabling EDL shader option), Qt5.15.2, libpointmatcher
    • Drivers:
      • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro),
      • Freenect2 (UsbDk should be installed),
      • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
      • Kinect For Azure,
      • RealSense (ZR300, R200),
      • RealSense2 2.40.0 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
      • Tara,
      • Mynt Eye S SDK,
      • ZED SDK 3.3.3 (enabled on cuda11.1 release)
    • Optimizers: TORO, g2o, GTSAM
    • Reconstruction: OctoMap, CPUTSDF
  • Mac OS X Big Sur hanging issue:
    • Launch from terminal like this: QT_MAC_WANTS_LAYER=1 /Applications/RTABMap.app/Contents/MacOS/RTABMap
  • Windows High CPU Usage
    • This can be related to OpenMP, try setting environment variable OMP_WAIT_POLICY to passive.
  • Compatible with RTAB-Map Tango 0.20
  • See Installation page for additional installation instructions depending on your platform and the camera you are using (e.g., drivers).

Downloads

0.20.7

3 years ago

Release notes:

  • Dependencies included in the Windows binaries:
    • Core: OpenCV 4.5.0 with xfeatures2d and nonfree modules (GPU options enabled on cuda11.1 release), PCL 1.11.1 with VTK 8.2.0 (enabling EDL shader option), Qt5.15.2, libpointmatcher
    • Drivers:
      • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro),
      • Freenect2 (UsbDk should be installed),
      • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
      • Kinect For Azure,
      • RealSense (ZR300, R200),
      • RealSense2 2.40.0 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
      • Tara,
      • Mynt Eye S SDK,
      • ZED SDK 3.3.3 (enabled on cuda11.1 release)
      • Important for HD images >480p
        • Some new cameras can output HD images (and even higher resolutions), the default GFTT/BRIEF feature doesn't work well with high resolution images. It is recommended to increase GFTT/MinDistance (GFTT->Minimum Euclidean distance) to 7-10 for example or use scale invariant features (ORB-OCTREE approach can be a good choice to keep speed with binary descriptors). Increase also Vis/CorGuessWinSize (Visual Registration->Matching window size) to 40-60 to get smoother odometry.
    • Optimizers: TORO, g2o, GTSAM
    • Reconstruction: OctoMap, CPUTSDF
  • Mac OS X Big Sur hanging issue:
    • Launch from terminal like this: QT_MAC_WANTS_LAYER=1 /Applications/RTABMap.app/Contents/MacOS/RTABMap
  • ROS kinetic, melodic and noetic binaries have been updated (should appear in next ROS releases).
  • Major updates:
    • Improved Kinect for Azure support with IMU and IR-only mode. See this post for an example with K4A and libpointmatcher in completely dark environments.
    • Added minimal L515 support (only one resolution RGB+Depth is yet available).
    • Improved significantly memory usage (less RAM).
    • DatabaseViewer: manual constraints can be added.
    • Updated default parameters for ORB-OCTREE feature.
    • Fixed root node Yaw drifting with GTSAM and gravity links.
    • Updated point cloud visualization tools to support "Intensity" field. Also added new colormap (rainbow colors) for intensity visualization.
    • Added database target version parameter. Useful to create an older database format that will be compatible with older RTAB-Map versions.
    • Including 99 commits since previous release.
  • Compatible with RTAB-Map Tango 0.20
  • See Installation page for additional installation instructions depending on your platform and the camera you are using (e.g., drivers).

Downloads

0.20.3

3 years ago

Rapid patch to fix D415 and D435i issues (https://github.com/introlab/rtabmap/issues/469 and this). See v0.20.2 release for more details.

Downloads

0.20.2

3 years ago

Release notes:

  • Dependencies included in the Windows binaries:
    • Core: OpenCV 3.4.10 with xfeatures2d and nonfree modules (GPU options enabled on CUDA10 release), PCL 1.8.1 with VTK 6.3, Qt5.10.1
    • Drivers:
      • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro),
      • Freenect2 (UsbDk should be installed),
      • Kinect for Windows SDK 2.0,
      • RealSense (ZR300, R200),
      • RealSense2 2.35.2 (T265, D435, D435i),
      • Tara,
      • Mynt Eye S SDK,
      • Kinect For Azure,
      • ZED SDK 3.2 (enabled on CUDA10 release)
      • Important: some new cameras can output HD images (and even higher resolutions), the default GFTT/BRIEF feature doesn't work well with high resolution images. It is recommended to increase GFTT/MinDistance to 10 for example or use scale invariant features. The new ORB-OCTREE approach can be a good choice to keep speed with binary descriptors.
    • Optimizers: TORO, g2o, GTSAM
    • Reconstruction: OctoMap, CPUTSDF
  • Major updates:
    • Added support for Mynt Eye S camera (thanks Mynt Eye for the camera!)
    • Added support for Kinect for Azure (thanks @tkircher for the pull request and the camera!)
    • Upgraded ZED driver to support ZED2 camera
    • Added IMU support for compatible camera drivers (in Source panel, an IMU filtering approach should be selected)
      • Optimization can be done with gravity constraints (enabled with Optimizer/GravitySigma=0.3)
    • Added ORB-OCTREE feature approach (extraction of ORB features like ORB_SLAM2). This can be useful to be more invariant to image resolution.
  • Compatible with RTAB-Map Tango 0.20
  • See Installation page for additional installation instructions depending on your platform and the camera you are using (e.g., drivers).

Downloads

0.18.0

5 years ago

Release notes:

  • Dependencies included in the Windows binaries:
    • Core: OpenCV 3.4.3 with xfeatures2d module (GPU options enabled on CUDA10 release), PCL 1.8.1 with VTK 6.3, Qt5.10.1, OctoMap
    • Drivers: OpenNI2, OpenNI, Freenect2 (UsbDk should be installed), FlyCapture2/Triclops, RealSense, RealSense2, Tara, ZED 2.7 (enabled on CUDA10 release)
    • Optimizers: g2o, GTSAM, TORO, cvsba
    • Reconstruction: CPUTSDF, OpenChisel
  • Major updates:
    • Improved GTSAM convergence on multi-session mapping
    • Using GPS (when available) in likelihood estimation to increase loop closure detection robustness on multi-session mapping (see this tutorial)
    • Fixed GUI native look on Windows
    • Fixed FlyCapture2 build with their latest SDK
    • Now supporting Tara stereo camera out-of-the-box, thanks to e-consystem
    • Database: saving whole camera calibration, saving environmental sensors, saving angle parameters for laser scan info.
    • Fixed g2o export format to use Optimizer parameters, thanks to TSC21
    • Added stereo SGBM approach to compute dense disparity
    • Fixed SIFT usage
    • Fixed CPUTSDF regression in binary release, packaged back with September 2015 version.
    • Fixed imu-rgb-depth ZR300 frames when using RealSense VIO (linux).
    • Added RealSense D415 icon in menu
    • RGBD/OptimimzeMaxError is now also used to check maximum angular errors in the graph
  • Compatible with RTAB-Map Tango 0.18
  • See Installation page for additional installation instructions depending on your platform (e.g., drivers).

Downloads

0.17.5

5 years ago
  • RealSense v2 integration.
  • Bug fixes.
  • See Installation page for additional installation instructions depending on your platform (e.g., drivers).
  • Windows binaries include OpenNI2, Freenect2, FlyCapture2, OpenCV's video capture and RealSense v1/v2 drivers. Use K4W2 for Kinect v2 SDK. Re-uploaded to fix missing turbojpeg.dll.

Downloads

0.16.3

6 years ago
  • Improved visual odometry.
  • Updated default parameters.
  • See Installation page for additional installation instructions depending on your platform (e.g., drivers).

Downloads