0.21.0

[matlabbe]

Standalone changes

• RealSense2:
  • D400 cameras: IR + Depth mode (with IR emitter disabled) is now used by default instead of RGB+Depth. The IR camera has a larger field-of-view, has a global shutter and is perfectly synchronized with depth image, so visual odometry is more accurate.
  • The included realsense2 library in windows binaries has been patched so that we can use T265 alone like a stereo camera.
• GUI: Added multi-session localization view, related to this new 2022 paper Multi-Session Visual SLAM for Illumination Invariant Re-Localization in Indoor Environments
• Updated with Qt6 support
• Updated with VTK 9 support
• Added OAK-D Lite support

Library changes

• RTAB-Map library now uses CMake targets to make it easier to include in another cmake project.

  find_package(RTABMap REQUIRED)
  target_link_libraries(MyApp rtabmap::core)

• Updated compilation instructions on Windows, now using officially vcpkg for main dependencies.
• Added option to set priors on markers (automatically transform map in world coordinates)
• [ROS] Multi-camera visual odometry and localization support (build with OpenGV dependency).
• [Android] Added recovery feature, android 30 support, fixed various bugs
• [iOS] Improved significantly rendering performance on latest iPhones
• [Docker] Added 22.04 / Jammy image
• Improved stability and many bug fixes as seen below.

Full Changelog: 0.20.16...0.21.0

Pull requests

• Add Boost serialization package for libpointmatcher case by @MarvinStuede in Add Boost serialization package for libpointmatcher case #810
• List dependencies only once by @Timple in List dependencies only once #812
• fix missing curl install in focal dockerfile by @benknight135 in fix missing curl install in focal dockerfile #816
• Allow negative disparity in dialog for stereo matchers by @benknight135 in Allow negative disparity in dialog for stereo matchers #817
• Marker priors by @matlabbe in Marker priors #859
• fixing missing DISABLE_VTK on recent PCL versions by @matlabbe in fixing missing DISABLE_VTK on recent PCL versions #871
• Added stereo multi-camera support by @matlabbe in Added stereo multi-camera support #884
• Use imported target for res_tool during cross compilation. by @windelbouwman in Use imported target for res_tool during cross compilation. #865
• implement multi camera marker detection Implement multi-camera marker detection #898 by @matlabbe in implement multi camera marker detection #898 #899
• Pnp multicam refactoring by @matlabbe in Pnp multicam refactoring #902
• OpenCV 4.7 moved aruco, and has breaking changes by @cnSchwarzer in OpenCV 4.7 moved aruco, and has breaking changes #955
• fix bigobj under MSVC, fix yaml-cpp link. by @cnSchwarzer in fix bigobj under MSVC, fix yaml-cpp link. #957
• Refactoring RTABMapConfig.cmake with targets by @matlabbe in Refactoring RTABMapConfig.cmake with targets #904
• Qt6 compatibility by @matlabbe in Qt6 compatibility #968

New Contributors

• @MarvinStuede made their first contribution in Add Boost serialization package for libpointmatcher case #810
• @Timple made their first contribution in List dependencies only once #812
• @benknight135 made their first contribution in fix missing curl install in focal dockerfile #816
• @windelbouwman made their first contribution in Use imported target for res_tool during cross compilation. #865
• @cnSchwarzer made their first contribution in OpenCV 4.7 moved aruco, and has breaking changes #955

Dependencies included in the Windows binaries:

• Core: OpenCV 4.7.0 with xfeatures2d and nonfree modules (GPU options enabled on cuda11.7 release), PCL 1.13.0 with VTK 9.2.0, Qt6.4.3.
• Drivers:
  • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro, Orbbec Astra),
  • Freenect2 (UsbDk v1.00-22 should be installed),
  • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
  • Kinect For Azure,
  • RealSense (ZR300, R200)(check older releases),
  • RealSense2 2.53.1 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
  • Tara,
  • Mynt Eye S SDK(check older releases),
  • ZED SDK 3.8 (enabled on cuda11.7 release),
  • DepthAI (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o, GTSAM, Ceres
• ICP: libpointmatcher, CCCoreLib
• Reconstruction: OctoMap

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).
• See Installation page for additional installation instructions depending on your platform and the camera you are using (e.g., drivers).

---

This discussion was created from the release 0.21.0.

[laitifranz]

Please, release the updated package macOS version. I cannot install it by myself using the source, even with all the workarounds that you linked in your installation tab.

I'm stuck in the qt5 error, where it seems there is a malformed path error (the same showed here leela-zero/leela-zero#2177).
The old version of the .dmg available in the 0.20.3 release of RTABMap crashes when it is launched.
I'm using macOS Ventura 13.2.1 on an Intel Mac.

Thank you for your time and dedication to this project!

[matlabbe]

Uploaded DMG for MAC OS X (RTABMap-0.21.0-Darwin-arm64.dmg), currently only available
for Apple Silicon Mac. If you have an intel Mac, current solution is to rebuild RTAB-Map. I fixed the seg fault on start related to VTK OpenGL, and revised the compilation instructions. It should not be hard to build it now.

[laitifranz]

Thank you very much!
I tried to build from source with the new instruction but, unfortunately, the problem mentioned in my first comment persists... I would like to contribute to the release of an Intel version but I cannot figure out how to solve the issue... anyway, thank you again!

[matlabbe]

At the job, I think I can have access to an Intel Macbook pro. I'll give a try next week.

[matlabbe]

Uploaded intel version: https://github.com/introlab/rtabmap/releases/download/0.21.0/RTABMap-0.21.0-Darwin-Intel.dmg

On the Mac I built it I didn't need to sign it. If you have error about libraries not signed (see error report), report and I will try signing them.

[laitifranz]

It works!! Thank you very much, really appreciate your help
If macOS said to move to the trash, just open it by right-clicking on the RTABMap icon and clicking "Open", then it prompts out to open it anyway

[BorisLimTP]

trying to use my L515 camera in the windows client but i get a "Camera Initialisation failed" here's the logs: https://pastebin.com/ujBMS14q

[matlabbe]

Try selecting L515 camera from the main menu Detection->Select Source->RGBD Camera->L515. This will make sure that default realsense parameters are compatible with that camera.

[BorisLimTP]

i tried this as well but still the same errors + log

[matlabbe]

Which firmware version is installed on the camera?

[ArcSketch]

Would it be much trouble getting a code signature from Apple? - https://developer.apple.com/developer-id/

[matlabbe]

I would probably try to sign the desktop version first if it is not too long to do, to avoid potential confusion on Mac store.

[ArcSketch]

Yes, that’s probably a good call. The native desktop version would definitely be the ideal solution anyway. Thanks again.

[ArcSketch]

Hi, I'm just curious about getting the desktop version onto the Mac store. How is it going?

[matlabbe]

I am currently stuck with hundred of ITMS-90238: Invalid Signature errors after I upload to apple connect. The error codes I get when apple is processing my bundle:

• ITMS-90238: Invalid Signature - The main app bundle RTAB-Map at path RTABMap.app has following signing error(s): invalid Info.plist (plist or signature have been modified) In architecture: arm64 . Refer to the Code Signing and Application Sandboxing Guide at http://developer.apple.com/library/mac/#documentation/Security/Conceptual/CodeSigningGuide/AboutCS/AboutCS.html and Technical Note 2206 at https://developer.apple.com/library/mac/technotes/tn2206/_index.html for more information.
• ITMS-90238: Invalid Signature - The nested app bundle at path RTABMap.app/Contents/Frameworks/QtCore.framework has following signing error(s): valid on disk /Volumes/workspace/app_data/SWValidationService/mz_5628755434060812228dir/mz_6617017911165904953dir/com.introlab.rtabmap.desktop.pkg/Payload/RTABMap.app/Contents/Frameworks/QtCore.framework/Versions/5: satisfies its Designated Requirement test-requirement: code failed to satisfy specified code requirement(s) . Refer to the Code Signing and Application Sandboxing Guide at http://developer.apple.com/library/mac/#documentation/Security/Conceptual/CodeSigningGuide/AboutCS/AboutCS.html and Technical Note 2206 at https://developer.apple.com/library/mac/technotes/tn2206/_index.html for more information.
• ITMS-90238 [... 337 more times]
• ITMS-90296: App sandbox not enabled - The following executables must include the 'com.apple.security.app-sandbox' entitlement with a Boolean value of true in the entitlements property list: [[RTABMap.app/Contents/MacOS/RTABMap]] Refer to App Sandbox page at https://developer.apple.com/documentation/security/app_sandbox for more information on sandboxing your app.
• Warnings

  • ITMS-90889: 'Cannot be used with TestFlight because the bundle at “RTABMap.app” is missing a provisioning profile. Main bundles are expected to have provisioning profiles in order to be eligible for TestFlight.'

  • ITMS-90788: Incomplete Document Type Configuration - The CFBundleDocumentTypes dictionary array in the 'com.introlab.rtabmap.desktop' Info.plist should contain an LSHandlerRank value for the CFBundleTypeName 'RTAB-Map Database' entry. Refer to https://developer.apple.com/library/archive/documentation/General/Reference/InfoPlistKeyReference/Articles/CoreFoundationKeys.html#//apple_ref/doc/uid/TP40009249-SW1 for more information on the LSHandlerRank key.

My current signing process:

codesign --deep --force -s "Apple Development: FIRSTNAME LASTNAME (XXXXXXXXX)" RTABMap.app
codesign --force -s "Apple Development: FIRSTNAME LASTNAME (XXXXXXXXX)" --entitlements RTABMap.app/Contents/RTABMap.entitlements  RTABMap.app/Contents/MacOS/RTABMap
xcrun productbuild --component RTABMap.app /Applications/ rtabmap.unsigned.pkg
xcrun productsign --sign "3rd Party Mac Developer Installer: FIRSTNAME LASTNAME (XXXXXXXXX)" rtabmap.unsigned.pkg rtabmap.pkg
xcrun altool --validate-app --file rtabmap.pkg --type osx 
xcrun altool --upload-app -f rtabmap.pkg -t osx 

I try to follow this thread but it seems there are a lot of issues when we don't build/distribute code with XCode. It is quite difficult to find help on command line tools to generate/manage the right config files and correctly sign all dependencies.

My test above is only for Arm64 build. My main concern is how to publish universal binaries (arm64+intel) without Xcode, I would need to merge the two DMG into a single one. It doesn't seem to be just copying *.app from both architectures in same DMG. I saw that lipo command line app could be used to create universal binaries, but a script would be needed to merge arm64 and intel *.app together (lipo should be called on any exe in the bundle, though not sure it works with embedded libraries/plugins/frameworks). Well, the workaround would be to only distribute intel version on MacOS store, and let rosetta running it on apple silicon (I feel it not a good solution as most new mac users are now using apple silicon I guess).

I am more focused on Linux/ROS/ROS2 right now, so it is difficult for me to justify putting more time on this as the DMGs are already available from Github (https://github.com/introlab/rtabmap/releases/tag/0.21.0)

[ArcSketch]

That list really looks like a nightmare, especially all those signature errors. I completely understand that it doesn't feel like the right thing to prioritize right now. Thanks for looking into it anyway, I appreciate it.