v0.23.1

First, a big thanks for our new contributor(s) (see below) and everyone reporting/discussing issues!

Dependencies included in the Windows binaries:

• Core: OpenCV 4.7.0 with xfeatures2d and nonfree modules (GPU options enabled on CUDA 11.7 release), PCL 1.15.0 with VTK 9.3, Qt 6.8.3.
• Drivers:
  • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro, Orbbec Astra) *Kinect for XBOX 360 reported not working on Windows 11 (but works on Windows 10),
  • Freenect2 (UsbDk v1.00-22 should be installed, cuda pipeline available in cuda11.7 release),
  • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
  • Kinect For Azure,
  • RealSense2 2.56.3 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
  • Tara (side by side opencv video capture),
  • ZED SDK 5.0.3 (enabled on cuda11.7 release),
  • DepthAI 2.24.0 (OAK-D, OAK-D Lite)
  • NEW Orbbec SDK v2 (Astra 2)
• Optimizers: TORO, g2o 2024-12-14, GTSAM 4.2.0, Ceres 2.2.0
• ICP: libpointmatcher 1.3.1, CCCoreLib 1.0
• Reconstruction: OctoMap
• GPU Visual Features (enabled on cuda11.7 release):
  • SuperPoint support with libtorch
  • CudaSift support (parameter SIFT/Gpu) through this fork
• vcpkg port also available: see build instructions here.

Dependencies included in the MacOS binaries:

• Core: OpenCV 4.12.0 with xfeatures2d and nonfree modules, PCL 1.15.1 with VTK 9.5, Qt 6.9.3.
• Drivers:
  • Freenect (Kinect for XBOX 360)
  • RealSense2 2.57.3 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used) *may crash on some systems or require launching with sudo (e.g., not currently working on M1 Sonoma/Sequoia/Tahoe),
  • Tara (side by side opencv video capture),
  • DepthAI 2.30.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o, GTSAM 4.2.0
• ICP: libpointmatcher 1.4.4
• Reconstruction: OctoMap 1.10.0
• Homebrew binaries also available: brew install rtabmap (add --HEAD for latest master version). Note that it has only basic dependencies to visualize, edit or post-process databases (e.g., coming from RTAB-Map for iOS app).

What's Changed

• Minor correction on using tilted sensor model for OAK camera by @borongyuan in #1560
• Loading time optimization by @matlabbe in #1569
• reorganized includes (added SYSTEM keyword) by @matlabbe in #1578
• VINS Fusion overhaul by @matlabbe in #1580
• Fixed auto reset identity jump. If external guess, do not report lost… by @matlabbe in #1587
• When external guess is provided, don't report lost for the first ever… by @matlabbe in #1588
• Odom F2M always reports 9999 when lost by @matlabbe in #1589
• CuVSLAM VO Strategy by @Dekempsy4 in #1583
• Orbbec SDK v2 integration (new CameraOrbbecSDK class) by @matlabbe in #1590

New Contributors

• @Dekempsy4 made their first contribution in #1583

Full Changelog: 0.22.1...0.23.1

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.
• SuperPoint weights can be downloaded in assets below for convenience (tested with CUDA release).
• For ZED's neural depth option, download and extract the files from RTABMap-0.23.1-win64-cuda117-zed-neural-extra.7z in the binary folder of RTAB-Map. Note that the first time neural option is used, RTAB-Map may appear frozen for some time, just wait till the model is initialized (could take a couple of minutes).
• See Installation page for additional installation instructions depending on your platform and the camera you are using (e.g., drivers).