* Depth confidence can now be changed after scanning, so no more worries about recording too much or too less data. * Added SIFT/SURF feature types. * Added depth bleeding filtering option. * Fixed rendering when exporting mesh with texture size greater than 4096.

* Fixed scale estimation of markers that made harder to accept some marker detections. * Added option to export point cloud in LAZ. * Added option to colorize polygons not having texture. * OBJ exported with vertex color if related option is enabled. * Added VR measuring tool available after assembling optimized mesh.

0.21.8: * Moved "Depth Confidence" setting under Mapping settings to avoid confusion of what is actually saved in database (https://github.com/introlab/rtabmap/issues/1355) 0.21.7: * Added ARKit jumps filtering for better results. * Fixed some stability issues. * Ability to export point cloud in LAS format. * Raw ARKit data recording mode (up to 60 Hz!), useful to record long sessions without comprising battery life. * Refer to https://github.com/introlab/rtabmap/pull/1340 for details.

* Added ARKit jumps filtering for better results. * Fixed some stability issues. * Ability to export point cloud in LAS format. * Raw ARKit data recording mode (up to 60 Hz!), useful to record long sessions without comprising battery life. * Refer to https://github.com/introlab/rtabmap/pull/1340 for details.

Fixed some databases failing to open (when LiDAR is not used).

It is mostly a maintenance version to keep it up to date with RTAB-Map library, which is now 0.21.0. Also improved stability (fixed issue #1001).

0.20.19 * Improved recovery feature: temporary database is now public (like other databases), so it can be copied in File Explorer or Finder in case the recovery feature doesn't work for some reason (it can be opened/recovered on another computer with RTAB-Map Desktop if the limited RAM was the issue). Also fixed recovery ignored when re-opening the app after a previous recovery failure (that caused clearing the original scan). In other words, it is now pretty much impossible to lose your scan if the app crashes for any reason (unless you click Ignore in recovery dialog). 0.20.18 * Improved responsiveness significantly on all iOS devices. 0.20.17 * Added recovery feature. If the App exits for some reason (switched to other App during scanning, phone rebooted, phone calls, bug...) and that RTAB-Map has to restart, you will now be asked to recover the previous session if it was not saved. 0.20.16 * Improved localization mode with and without apriltags. Localization mode can be activated when clicking on First-P. View button during visualization (after the scan has been assembled). * First-P. View mode by default when starting a new scan. * Sync with latest 0.20.16 RTAB-Map version.

0.20.18 Improved responsiveness significantly on all iOS devices. 0.20.17 * Added recovery feature. If the App exits for some reason (switched to other App during scanning, phone rebooted, phone calls, bug...) and that RTAB-Map has to restart, you will now be asked to recover the previous session if it was not saved. 0.20.16 * Improved localization mode with and without apriltags. Localization mode can be activated when clicking on First-P. View button during visualization (after the scan has been assembled). * First-P. View mode by default when starting a new scan. * Sync with latest 0.20.16 RTAB-Map version.

0.20.17 * Added recovery feature. If the App exits for some reason (switched to other App during scanning, phone rebooted, phone calls, bug...) and that RTAB-Map has to restart, you will now be asked to recover the previous session if it was not saved. 0.20.16 * Improved localization mode with and without apriltags. Localization mode can be activated when clicking on First-P. View button during visualization (after the scan has been assembled). * First-P. View mode by default when starting a new scan. * Sync with latest 0.20.16 RTAB-Map version.

Improved localization mode with and without apriltags. Localization mode can be activated when clicking on First-P. View button during visualization (after the scan has been assembled). First-P. View mode by default when starting a new scan. Sync with latest 0.20.16 RTAB-Map version.

* First-Person View:  - Improved feedback of missing spots with a red overlay;  - Added camera overlay over the mesh for smoother visualization and to see better misalignments (that would require a loop closure soon);  - Fixed OpenGL FOV to match exactly the camera FOV. * Decreased default Max Optimization Error parameter to keep only the best loop closures. * Improved ArUco/AprilTag constraints for better graph optimization and localization.