v0.17.5

• 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.

v0.16.3

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

v0.14.0

• 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.

v0.13.0

• 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).

v0.12.5

• 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).

v0.12.4

• 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).

v0.12.1

• 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).

v0.11.14

• 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).

v0.11.13

• 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).

v0.11.11

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).