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v0.18.0
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@matlabbe matlabbe released this 05 Dec 00:57
· 1337 commits to master since this release
0.18.0
f670f71

Release notes:

  • Dependencies included in the Windows binaries:
    • Core: OpenCV 3.4.3 with xfeatures2d module (GPU options enabled on CUDA10 release), PCL 1.8.1 with VTK 6.3, Qt5.10.1, OctoMap
    • Drivers: OpenNI2, OpenNI, Freenect2 (UsbDk should be installed), FlyCapture2/Triclops, RealSense, RealSense2, Tara, ZED 2.7 (enabled on CUDA10 release)
    • Optimizers: g2o, GTSAM, TORO, cvsba
    • Reconstruction: CPUTSDF, OpenChisel
  • Major updates:
    • Improved GTSAM convergence on multi-session mapping
    • Using GPS (when available) in likelihood estimation to increase loop closure detection robustness on multi-session mapping (see this tutorial)
    • Fixed GUI native look on Windows
    • Fixed FlyCapture2 build with their latest SDK
    • Now supporting Tara stereo camera out-of-the-box, thanks to e-consystem
    • Database: saving whole camera calibration, saving environmental sensors, saving angle parameters for laser scan info.
    • Fixed g2o export format to use Optimizer parameters, thanks to TSC21
    • Added stereo SGBM approach to compute dense disparity
    • Fixed SIFT usage
    • Fixed CPUTSDF regression in binary release, packaged back with September 2015 version.
    • Fixed imu-rgb-depth ZR300 frames when using RealSense VIO (linux).
    • Added RealSense D415 icon in menu
    • RGBD/OptimimzeMaxError is now also used to check maximum angular errors in the graph
  • Compatible with RTAB-Map Tango 0.18
  • See Installation page for additional installation instructions depending on your platform (e.g., drivers).

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