introlab3it/rtabmap repository overview

⁠rtabmap

RTAB-Map⁠ — Real-Time Appearance-Based Mapping. A graph-based SLAM library with appearance-based loop closure detection, together with its standalone GUI and command-line tools. Builds and maintains a 3D map from RGB-D, stereo or lidar data.

Source, documentation and issues → github.com/introlab/rtabmap⁠ Usage examples → Installation wiki⁠

For the ROS wrapper, see introlab3it/rtabmap_ros⁠.

⁠Tags

Ubuntu plus the RTAB-Map library, GUI and tools, built from the master⁠ branch. The ROS column is the distro whose dependencies the image carries — it is also what the matching rtabmap_ros image builds on.

Android — the toolchain for building the RTAB-Map Android app, amd64 only: android23 (also tagged tango), android24, android26, android30.

<name>-deps — the dependencies only, without RTAB-Map itself; the base the images above are built on: focal-deps, jammy-deps, noble-deps, noble-kilted-deps, resolute-deps.

⁠Quick start

The images keep databases in /root/Documents/RTAB-Map, so mount the host directory there:

docker run -it --rm \
  -v ~/Documents/RTAB-Map:/root/Documents/RTAB-Map \
  introlab3it/rtabmap:noble \
  rtabmap-info /root/Documents/RTAB-Map/rtabmap.db

The same mount works for the other tools — rtabmap-export, rtabmap-reprocess, rtabmap-recovery and the rest.

The GUI (rtabmap, rtabmap-databaseViewer) additionally needs X11 and GPU access from the container; the wiki⁠ has the full command.

⁠License

BSD-3-Clause. Some optional components RTAB-Map can be built against carry their own licenses.