• Compatibility release for RTAB-Map Tango 0.14:

  • (#226) Database: Added GPS field.
  • (#226) DatabaseViewer: We can view GPS poses and export them in KML format (Google Earth).

• RTAB-Map Tango:

  • (#226) Added "Settings->Mapping->Save GPS" option.
  • (#233) Added Rename/Delete/Share options on long click on databases in Open dialog.
  • (#233) Exported cloud/mesh and saved database can be shared for convenience (e.g., email or google drive)

• See Installation page for additional installation instructions depending on your platform (e.g., drivers).

• Update (November 7): If you are going to use a Kinect v2 with Freenect2 driver, there is a bug in the released binaries above for Windows. Download libusb-1.0.dll above and copy it over the one in bin directory of RTAB-Map.

• Updated binaries to be compatible with RTAB-Map Tango 0.13.
• See Installation page for additional installation instructions depending on your platform (e.g., drivers).

• Export:
  • Better color correction when exporting textured mesh
  • Added CPU-TSDF meshing approach (only with organized cloud reconstruction)
• Updated ZED sdk 2.0.1
• Added RealSense ZR300 support (VIO option only available on Ubuntu when installing librealsense-slam-dev, see realsense_sample_ros)
• More CLAMS parameters exposed for Depth Calibration
• Windows binaries re-uploaded (May 21) with OpenCV's xfeature2d module and CPU-TSDF.
• See Installation page for additional installation instructions depending on your platform (e.g., drivers).

• Updated Export options
• Added "Grid/ProjRayTracing" parameter to do ray tracing when projecting depth to ground
• Database viewer
  • Depth images can be edited (Edit -> Edit depth image...)
  • Added occupancy grid view
  • Added same export dialog than in rtabmap app
• Bug fixes
• See Installation page for additional installation instructions depending on your platform (e.g., drivers).

• Fixed a bug that new maps were created (when we are still in the same map) when reprocessing Tango databases.
• Option to show frustums on every nodes in the graph (see Preferences->3D Rendering->Show Frustums).
• Updated how textures are applied to be aware of occlusions.
• See Installation page for additional installation instructions depending on your platform (e.g., drivers).

• New features:
  • Export: Poisson surface reconstruction approach can be used to merge all point clouds into an optimized and smoothed mesh. OBJ textures are now merged by default.
  • Added FREAK detector/descriptor option when built with OpenCV3.
• Windows binaries:
  • GTSAM graph optimization is now available!
  • Fixed texturing not working (downgraded VTK 7 to VTK 6.3).
• See Installation page for additional installation instructions depending on your platform (e.g., drivers).

• Added local bundle adjustement option for odometry F2M
  • For smooth odometry, you can try 3D to 2D registration approach (Visual Registration->Motion estimation or OdomF2M/BundleAdjustment=1) with g2o local bundle adjustement (Odometry->Frame to Map->Local bundle adjustment or Vis/EstimationType=1).
• Improved g2o bundle adjustement (doing stereo instead of mono optimization)
• Updated default parameters
• Some bug fixes
• See Installation page for additional installation instructions depending on your platform (e.g., drivers).

What's new!

• Binaries 0.11.11 below have been re-uploaded (Nov 1). Please re-install if you downloaded 0.11.11 prior to Nov 1.
  • Fixed some problems with Export Clouds dialog.
  • Removed the packaged OpenCL.dll in the non-CUDA release so that OpenCL.dll installed on your computer is used.
• Sensors support:
  • Added RealSense R200 support (install driver here)
  • Updated ZED SDK to v1.1.1 (with CUDA 8)
• Refactored how occupancy grid maps are generated and stored (saved directly in the database, no more regeneration).
  • This update increases a lot the performance when reloading a previous map. In standalone, to create a 2D occupancy grid map or an OctoMap, we should explicitly enable "Create local occupancy grid maps" option under RGB-D SLAM settings. On ROS, this option (RGBD/CreateOccupancyGrid) is enabled by default.
• 3D Rendering:
  • Added texture mesh option (giving similar rendering results than the Tango version).
  • Added gain compensation option to balance colors between frames.
• Integrated a depth calibration approach (CLAMS) to reduce depth distortions (very useful for cameras like the Xtion), see this tutorial.
• Kinect v1/Xtion cameras can now be manually re-calibrated with the calibration tool.
• Some minor fixes and improvements.
• See Installation page for additional installation instructions depending on your platform (e.g., drivers).

• Parameters are saved in the database (useful when sharing databases)
• More memory efficient GUI.
• New odometry parameter (Odom/AlignWithGround) that can be used to initialize the camera accordingly to the floor, thus aligning the bottom of the point cloud to xy plane. See Preferences -> Odometry panel.
• Figures are now shown with time on x-axis instead of IDs by default, so we can now have on the same figure odometry and mapping time statistics.
• Integrated OctoMap (3D occupancy grid map) in the core library. See Preferences -> Occupancy Grid Map panel to activate it. In contrast to raw point clouds, the octomap can clear 3D dynamic obstacles. The advantage of this more tighter integration is to correct online the octomap when loop closures are detected. The octomap can be exported via menu File -> "Export octomap...".
• OdomF2M: Updated how local scan map is updated
• Added Zed SDK v1.0.0 support with new visual odometry option. See Preferences -> Source, then Zed related panel.
• Multi-camera:
  • Some bug fixes and improvements
  • Multi-frustum in GUI
• Planning: using fly distance instead of path distance to update current goal
• rtabmap_ros:
  • rgbd_odometry and stereo_odometry can be used as nodelets
  • Added some octomap topic outputs to rtabmap node for convenience
• Some minor fixes and improvements

• Special build for the Zed stereo camera on Windows (download the related zip below). You may have to install CUDA 7.5 and Zed SDK (tested with 0.9.4) to make it work.
  • The Zed camera is under the Stereo submenu in sensor selection. For more Zed parameters, see Preferences -> Source, select Stereo as source and scroll down to select Zed sdk driver, then you will have most of the Zed parameters (resolution, quality and sensing mode). You can also set a SVO file as input.
  • To avoid a lot of warning messages about depth conversion from 32 bits to 16 bits, uncheck parameter Save depth image into 16 bits format to reduce memory used... under Memory panel in Preferences (Advanced).
  • To have similar results than ZedFu, activate meshing at the bottom of Preferences->3D rendering panel and set Angle tolerance to 30 degrees. You can also limit the 3D cloud maximum depth under Map and Odometry columns to 3 meters. Setting Zed quality to Quality (instead of Performance) could also give better meshes.
• Tested on Windows 7/10 and built on Visual Studio 2015 with Qt5, PCL 1.8, g2o, cvsba and OpenCV 3 (with SIFT/SURF). Installation errors:
  • Update OpenCL if you have "The procedure entry point clReleaseDevice cound not be located in the dynamic link library OpenCL.dll"
  • Install visual studio 2015 redistributable if you have "Missing vcomp140.dll".
• Note that for the Kinect v2, UsbDK is now used. See libfreenect2 page for more info.