v0.20.2

Release notes:

• Dependencies included in the Windows binaries:
  • Core: OpenCV 3.4.10 with xfeatures2d and nonfree modules (GPU options enabled on CUDA10 release), PCL 1.8.1 with VTK 6.3, Qt5.10.1
  • Drivers:
    • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro),
    • Freenect2 (UsbDk should be installed),
    • Kinect for Windows SDK 2.0,
    • RealSense (ZR300, R200),
    • RealSense2 2.35.2 (T265, D435, D435i),
    • Tara,
    • Mynt Eye S SDK,
    • Kinect For Azure,
    • ZED SDK 3.2 (enabled on CUDA10 release)
    • Important: some new cameras can output HD images (and even higher resolutions), the default GFTT/BRIEF feature doesn't work well with high resolution images. It is recommended to increase GFTT/MinDistance to 10 for example or use scale invariant features. The new ORB-OCTREE approach can be a good choice to keep speed with binary descriptors.
  • Optimizers: TORO, g2o, GTSAM
  • Reconstruction: OctoMap, CPUTSDF
• Major updates:
  • Added support for Mynt Eye S camera (thanks Mynt Eye for the camera!)
  • Added support for Kinect for Azure (thanks @tkircher for the pull request and the camera!)
  • Upgraded ZED driver to support ZED2 camera
  • Added IMU support for compatible camera drivers (in Source panel, an IMU filtering approach should be selected)
    • Optimization can be done with gravity constraints (enabled with Optimizer/GravitySigma=0.3)
  • Added ORB-OCTREE feature approach (extraction of ORB features like ORB_SLAM2). This can be useful to be more invariant to image resolution.
• 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).