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v0.20.8
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@matlabbe matlabbe released this 18 Jan 21:01
· 793 commits to master since this release
0.20.8
5d77746

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).

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