SDK and standalone application that can be used in building a 3D scan of a room. Fully open source code. There is support for different cameras (stereo, depth, etc.). SLAM algorithms can be selected, lots of customization options. The application stores data in the database. Allows scanning large rooms. Written in C++. Uses several open source projects. Can be broken very easily by using newer versions of third-party libraries. Uses visual odometry to track camera movement. Features are extracted from each RGB image frame to determine displacement. Because of this, it is desirable to run on a device with a graphics card. On tablets, processing can be slow depending on the algorithms selected and their settings. It is possible to optimize the final scan and filter it in the application when exporting to common formats. The final scans without filtering can occupy quite a large amount of space on the hard disk. The graphic application is self-sufficient. Its integration with mobile devices can be difficult. You may have to write integration layers yourself in C++. It is possible to use the application on project tango devices. We tested rtab-map tango on lenovo phab 2 pro. Scanning and tracking quality is good.
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