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v0.20.7
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@matlabbe matlabbe released this 13 Dec 20:29
· 792 commits to master since this release
0.20.7
d8ebbc2

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).

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