v0.10.2

• Windows binaries are now built with libfreenect2 support for Kinect v2 (Xbox One).
  1. You will need to use libusbK driver instead of Windows Kinect SDK. Follow only "libusbK driver" section of libfreenect2 webpage.
  2. Then open RTAB-Map and select "RGB-D camera" -> "Kinect v2" -> "Freenect2" and press start. By default the resolution is SD. To change resolution to HD, open Preferences menu and under Source tab, select the Freenect2 format you want: 1) RGB+Depth SD, 2) RGB+Depth HD, 3) IR+Depth. The third one works in the dark!
  3. The Kinect v2 has also a higher range than the Kinect v1, you may want to increase maximum depth of the odometry and the 3D cloud reconstruction. Open Preferences, then look for the corresponding parameters under Odometry panel ("Maximum features depth") and "3D Rendering" panel ("3D cloud maximum depth").
• Added multi-camera support (only used by rtabmap_ros, see demo_two_kinects.launch).
• Preferences dialog
  • Some refactoring of the Source panel and for choice of motion estimation approach: 3D->3D and 3D->2D (PnP).
  • Added stereo mapping from a dataset of images/video.
  • Calibration of the RGB-only devices (USB Webcam).
• Main window / rtabmapviz
  • Labels are shown in the 3D Map. If you don't want to see them, uncheck the related parameter in Preferences dialog under 3D Rendering panel.
  • Labels can be added from the Detection -> "Label current location..." action.
  • Added easy access button to refresh the map (re-download all clouds to the GUI).
  • Added "Window" -> "Default views" action.
• Increased global planning performance
• Added OpenCV 3 support
• C++ Library
  • Some refactoring of the Camera classes.