sudo apt install -y nvidia-docker2
sudo systemctl daemon-reload
sudo systemctl restart docker
Run image:
# those following 3 lines would need to be done only one time
export XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
docker run -it --rm \
--privileged \
--env="DISPLAY=$DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--env="XAUTHORITY=$XAUTH" \
--volume="$XAUTH:$XAUTH" \
-e NVIDIA_VISIBLE_DEVICES=all \
-e NVIDIA_DRIVER_CAPABILITIES=all \
--runtime=nvidia \
--network host \
-v ~/Documents/RTAB-Map:/root/Documents/RTAB-Map \
introlab3it/rtabmap:focal \
rtabmap
-e LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu:/usr/lib/aarch64-linux-gnu/tegra to command line above if you are using 20.04 image. Change noetic to melodic or humble if you use 18.04 or 22.04 image respectively.
For examples how to use RTAB-Map console tools with docker, see https://github.com/introlab/rtabmap/wiki/Multi-Session-Mapping-with-RTAB-Map-Tango#example-with-docker
$ docker pull introlab3it/rtabmap:android26
To install the APK, we should uninstall the version of RTAB-Map ARCore from the phone (installed by Play Store), drag and drop app to uninstall, or do:
adb uninstall com.introlab.rtabmap
For API <= 26, 2 choices:
Copy file on host computer then install it with adb from there:
docker run --name=rtabmap-android introlab3it/rtabmap:android26
docker cp rtabmap-android:/root/rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk .
docker rm rtabmap-android # cleanup container
adb install -r RTABMap-debug.apk
adb from container:
docker run --privileged --network=host -i -t --rm introlab3it/rtabmap:android26 adb install -r rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk
For API >= 30, the apk should be signed with a debug key (the keystore password is android):
docker run --privileged --network=host -i -t --rm introlab3it/rtabmap:android30
# from inside the container:
/opt/android-sdk/build-tools/30.0.3/apksigner sign --ks ~/.android/debug.keystore rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk
adb install -r rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk
$ docker pull introlab3it/rtabmap:tango
To install the APK, we should uninstall the version of RTAB-Map tango from the phone (installed by Play Store), drag and drop app to uninstall, or do:
$ adb uninstall com.introlab.rtabmap
Install APK, 2 choices (Asus Zenfone AR, Lenovo Phab2Pro):
Copy file on host computer then install it with adb from there:
$ docker run --name=rtabmap-tango introlab3it/rtabmap:tango
$ docker cp rtabmap-tango:/root/rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk .
$ docker rm rtabmap-tango # cleanup container
$ adb install -r RTABMap-debug.apk
adb from container:
$ docker run --privileged --network=host -i -t --rm introlab3it/rtabmap:tango adb install -r rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk
For Google Project Tango tablet, use introlab3it/rtabmap:tango-api19 image and replace arm64-v8a by armeabi-v7a:
$ docker run --name=rtabmap-tango introlab3it/rtabmap:tango-api19
$ docker cp rtabmap-tango:/root/rtabmap-tango/build/armeabi-v7a/app/android/bin/RTABMap-debug.apk .
$ docker rm rtabmap-tango # cleanup container
$ adb install -r RTABMap-debug.apk
All docker files can be found under docker directory. You should launch docker build from the root of this repository. Example:
cd rtabmap
docker build -t rtabmap_focal -f docker/focal/Dockerfile .
The installation steps are similar to Ubuntu:
System dependencies
$ sudo apt-get install libpcl-dev libopencv-dev cmake libfreenect-dev libopenni2-dev libsqlite3-dev libvtk6-qt-dev
Kinect for Xbox 360: Freenect binaries may not work out-of-the-box on RPI3B+ (see this issue), we should build it from source before building rtabmap:
$ sudo apt-get remove libfreenect*
$ git clone https://github.com/OpenKinect/libfreenect.git
$ cd libfreenect
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
If you want SURF/SIFT features enabled in RTAB-Map, you will also have to build OpenCV from source to have access to nonfree module:
$ cd opencv
$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ make
$ sudo make install
Download RTAB-Map source: get latest release or current source
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig
$ rtabmap
CONF_SWAPFILE=1000 of this file /etc/dphys-swapfile.
See Tutorials for a simple example of usage.
Do not expect high frame rate on Raspberry Pi, you may have to move slowly the camera. For example on RPi3, we can have around 5-6 Hz odometry frame rate by tuning some parameters. Without ROS, load the following settings rpi3.ini (see Preferences dialog) to get smoother mapping on RPI3. The Odometry panel can be closed if the GUI is lagging too much.
Install libusb: libusb-1.0.18.pkg or sudo port install libusb +universal
Install OpenNI: OpenNI-Bin-Dev-MacOSX-v1.5.7.10.zip sudo ./install.sh
Install Kinect Sensor: Sensor-Bin-MacOSX-v5.1.2.1.zip.sudo ./install.sh
XtionPRO Live:
Install OpenNI2 OpenNI-MacOSX-x64-2.2.0.33 or download this file 557-primesense-usb.rules and execute:
$ sudo copy 557-primesense-usb.rules /etc/udev/rules.d/557-primesense-usb.rules
Updated March 2023
For packages built from source, normally they should build from their latest version, otherwise you can see the git version I used for each of them at the time I tested it.
Homebrew:
brew install pcl opencv cmake octomap g2o pdal
# For issue cmake not finding Qt5 correctly (when PCL is not able to find VTK, for visualization module):
export PATH=/opt/homebrew/opt/qt@5/bin:$PATH
# or (depending how homebrew is configured)
export PATH=/usr/local/Cellar/qt@5/5.15.8_2/bin:$PATH
Optional but recommended: Build/install gtsam.
git clone https://github.com/borglab/gtsam.git
cd gtsam
git checkout ab92779b25b04b376fbbd1846bbbd21904c50e7a
mkdir build
cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_WITH_TBB=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
make -j$(sysctl -n hw.logicalcpu)
sudo make install
Optional but recommended if you use ICP: Build/install libpointmatcher.
git clone https://github.com/ethz-asl/libnabo.git
cd libnabo
git checkout 3cab7eed92bd5d4aed997347b8c8a2692a83a532
mkdir build
cd build
cmake ..
make -j$(sysctl -n hw.logicalcpu)
sudo make install
git clone https://github.com/ethz-asl/libpointmatcher.git
cd libpointmatcher
git checkout 76f99fce0fe69e6384102a0343fdf8d262626e1f
mkdir build
cd build
cmake ..
make -j$(sysctl -n hw.logicalcpu)
sudo make install
Install SDK of the camera you want to use.
Download RTAB-Map source: get latest release or current source
git clone https://github.com/introlab/rtabmap.git rtabmap
cd rtabmap/build
cmake ..
make -j$(sysctl -n hw.logicalcpu)
sudo make install
rtabmap/build/bin directory).
See Tutorials for a simple example of usage.
Call package target:
cmake -DBUILD_AS_BUNDLE=ON ..
make package
# Packaging will finished but the resulting App
# cannot be started because signature issue (killed on start).
# Find a valid xcode certificate in "keychain Access" app,
# then use full common name. Example:
cd _CPack_Packages/Darwin/DragNDrop/RTABMap-0.21.0-Darwin/ALL_IN_ONE
codesign --deep --force -s "Apple Development: FIRSTNAME LASTNAME (XXXXXXXXXX)" RTABMap.app
# Create image manually:
cd ..
hdiutil create -volname RTABMap-0.21.0 -srcfolder ALL_IN_ONE -ov -format UDZO RTABMap-0.21.0-Darwin.dmg
Packaging issues:
If the RTABMap.app is built with pdal, there was a crash because it could not find libpdal_util.15.dylib:
cd RTABMap.app/Contents/Frameworks
otool -L libpdalcpp.15.2.0.dylib
libpdalcpp.15.2.0.dylib:
@rpath/libpdal_util.15.dylib (compatibility version 15.0.0, current version 15.2.0, reexport)
Change @rpath to @executable_path inside the package:
install_name_tool -change @rpath/libpdal_util.15.dylib @executable_path/../Frameworks/libpdal_util.15.dylib libpdalcpp.15.2.0.dylib
For iOS build, no need to build MacOS version above. Begin by building all dependencies for iOS (curl, cmake, git and XCode should be manually installed):
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/app/ios/RTABMapApp
$ ./install_deps.sh
Note that the installation script has been tested on Apple Silicon only. Then open XCode project located in rtabmap/app/ios. Connect your iPhone/iPad with LiDAR, select it in XCode then press "Play" button. It should build, install and launch the App on your device.
Latest official releases here! (with most camera drivers and CUDA option)
Latest buildfarm releases here! (version automatically built from latest commit on master, it doesn't have all camera drivers and CUDA version is not available)
Driver for Kinect XBOX 360 / Kinect for Windows:
A (Recommended for binaries): Install Kinect for Windows SDK 1.6, then select "OpenNI2" driver in RTAB-Map.
B (Required if you compile from source): Install OpenNI-Win64-1.5.4-Dev.msi and Sensor-Win-OpenSource64-5.1.0.msi, then select "OpenNI-PCL" driver in RTAB-Map.
Driver for XtionPRO Live:
OpenNI-Windows-x64-2.2.0.33.zip
Driver RealSense R200
Driver ZED
Driver for the Kinect v2 / Kinect XBOX One:
Install UsbDK version listed in the release you downloaded. See libfreenect2 page for more info.
Kinect for Windows SDK 2.0 + Kinect for Windows Runtime 2.0
Updated March 2023
You can download and install rtabmap using the vcpkg dependency manager (use this pull request: https://github.com/microsoft/vcpkg/pull/30254 till it is merged). Set environment variable VCPKG_DEFAULT_TRIPLET=x64-windows for convenience. Instructions below will assume you are using x64-windows triplet by default. From a "x64 visual studio command prompt" (Administrator mode):
git clone https://github.com/Microsoft/vcpkg.git
cd vcpkg
bootstrap-vcpkg.bat
vcpkg integrate install
vcpkg install rtabmap --clean-after-build
The rtabmap port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please create an issue or pull request on the vcpkg repository.
To build rtabmap with camera drivers or other dependencies not available in vcpkg, you may use vcpkg just for those dependencies:
vcpkg install ceres g2o octomap zlib sqlite3 opencv[contrib,nonfree] pcl[qt,vtk] yaml-cpp --clean-after- build
Then build rtabmap manually (with a Visual Studio solution):
git clone https://github.com/introlab/rtabmap.git
cd rtabmap/build
cmake -DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake ..
cmake --build . --config Release
Execute the application (named "RTABMap.exe").
See Tutorials for a simple example of usage.
GTSAM: download 4.0.0-alpha2 version from https://github.com/borglab/gtsam/releases and this patch gtsam-4.0.0-alpha2-MSVC.patch.
git clone --branch 4.0.0-alpha2 https://github.com/borglab/gtsam.git
cd gtsam
git apply gtsam-4.0.0-alpha2-MSVC.patch
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_INSTALL_CPPUNILITE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
cmake --build . --config Release --target install
libpointmatcher (download this patch pointmatcher_windows_dll.patch)
vcpkg install boost-assign boost-program-options boost-timer --clean-after-build
git clone https://github.com/ethz-asl/libnabo.git
git clone https://github.com/ethz-asl/libpointmatcher.git
cd libnabo
git checkout c925c47
mkdir build
cmake ..
cmake --build . --config Release --target install
cd libpointmatcher
git checkout 7dc58e5
git apply pointmatcher_windows_dll.patch
mkdir build
cmake -DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake ..
cmake --build . --config Release --target install
# Delete libpointmatcher config files in installed CMake directory, we will use only the ones in installed share\libpointmatcher\cmake folder.
depthai: make sure to use -DBUILD_SHARED_LIBS=ON on the first cmake so that all hunter's dependencies are built as shared libraries.
realsense2: you can use the binaries, but for this T265 issue, you can add this patch to vcpkg realsense2 port (vcpkg install realsense2[core,tm2]).
CCCoreLib: make nanoflann interface PRIVATE instead of PUBLIC.
cmake -DBUILD_AS_BUNDLE=ON ..
cmake --build . --config Release --target package
If you see a misalignment between the depth and the RGB or the point cloud is mirrored when using source from OpenNI-PCL, see this page on PCL project.
On my machine, the SamplesConfig.xml is located here /etc/openni/SamplesConfig.xml, it should look like this (note GlobalMirror=False, RegistrationType and Registration are set) after modifications:
<OpenNI>
<Licenses>
</Licenses>
<Log writeToConsole="false" writeToFile="false">
<LogLevel value="3"/>
<Masks>
<Mask name="ALL" on="true"/>
</Masks>
<Dumps>
</Dumps>
<ProductionNodes>
<GlobalMirror on="false"/> <!-- Disable mirror -->
<Node type="Depth" name="MyDepth">
<Configuration>
<!-- Kinect works only with RegistrationType 2. Asus works only with RegistrationType 1. -->
<Property type="int" name="RegistrationType" value="2"/>
<Property type="int" name="Registration" value="1"/>
</Configuration>
</Node>
<Node type="Image" stopOnError="false" />
</ProductionNodes>
</OpenNI>
From version 0.8.5, you can check option "Mirroring" under the Source panel in the Preferences dialog.
If the Xtion is not detected on USB3: try updating the firmware of the Xtion.
If the Xtion is connected on an USB3 and there is a very low acquisition performance, try this by editing the PS1080.ini file located in OpenNI2 installation folder (if RTAB-Map is installed with binaries, the file is in bin/OpenNI2/Drivers/PS1080.ini). Uncomment lines:
USB interface=2 (line 28)
Input format=1 (line 50)
Input format=5 (line 117)
On Windows, you can also just uncomment Input format=1.
If built from source, from the build directory, you can do make uninstall.
Remove the RTAB-Map's source directory.
Remove RTAB-Map's working directory in "~/Documents/RTAB-Map".
Remove RTAB-Map's configuration file in "~/.rtabmap/rtabmap.ini".
If built from source, from the build directory, you can do make uninstall.
Drag-and-drop the application in the trash.
Remove RTAB-Map's working directory in "~/Documents/RTAB-Map".
Remove RTAB-Map's configuration file in "~/.rtabmap/rtabmap.ini".
Use the uninstaller provided.
Remove RTAB-Map's working directory in "User's directory/Documents/RTAB-Map".
Remove RTAB-Map's configuration file in "User's directory/.rtabmap/rtabmap.ini".
