v0.20.16

Standalone changes

• DUO mode extended to any combination of cameras (not only T265+L515 or D435). For example, using T265 odometry with a Kinect Azure camera for RGB/depth, or ZED camera for odometry with a Realsense L515 camera for RGB/depth. Added extrinsics calibration tool between the cameras for convenience. See "Preferences->Odometry Sensor" section for more info.
• Added SuperPoint support (included in cuda11-1 release below).
• Added DepthAI support (OAK-D camera).
• Improved localization accuracy with and without AprilTags.

Pull requests

• fixed trusty build by @matlabbe in #682
• Added CameraStereoZedOC (Zed Open Capture driver). Calibration: added… by @matlabbe in #692
• Coloring scan (camera projection on point cloud) by @matlabbe in #693
• Integrated DepthAI (gen2) by @matlabbe in #696
• Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. by @matlabbe in #698
• Refactored RegistrationIcp / Integrated CCCoreLib by @matlabbe in #704
• add flood fill filter by @chameau5050 in #714
• Vtk9 support by @matlabbe in #722
• Odom sensor option by @matlabbe in #726
• improve flood fill and move it to update function by @chameau5050 in #727
• Added libpdal to rtabmap docker build for focal by @CMaillette in #735
• Add ceiling filter to rtabmap-export by @iportolesrb in #775
• Moved bin dir inside build directory by @matlabbe in #784

New Contributors

• @chameau5050 made their first contribution in #714
• @CMaillette made their first contribution in #735
• @iportolesrb made their first contribution in #775

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, Orbbec Astra),
  • 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),
  • DepthAI (OAK-D)
• Optimizers: TORO, g2o, GTSAM
• Reconstruction: OctoMap, CPUTSDF

Other

• Looking for ICP configuration file for L515 and Kinect Azure, see release 0.20.8.
• Windows High CPU Usage
  • This can be related to OpenMP, try setting environment variable OMP_WAIT_POLICY to passive.
• See Installation page for additional installation instructions depending on your platform and the camera you are using (e.g., drivers).

Full Changelog: 0.20.8...0.20.16