This release provides updated Windows binaries. In particular, these binaries are compiled to use BAD SLAM with live support for RealSense, Azure Kinect (K4A), and Structure Core devices. Please note: To avoid possible licensing issues, we do not re-distribute libraries for K4A and Structure Core support. Thus, they have to be installed manually. Therefore, different versions of the binary are offered (which were created from the same source, but with different build options):
- badslam-1.1-realsense.zip: Supports pre-recorded datasets and RealSense live input only. Does not require manual installation of additional libraries.
- badslam-1.1-realsense-k4a.zip: Supports pre-recorded datasets, RealSense and Azure Kinect (K4A) live input. Requires manual download of depthengine_2_0.dll, k4a.dll, and k4arecord.dll (see below).
- badslam-1.1-realsense-structure.zip: Supports pre-recorded datasets, RealSense and Structure Core live input. Requires manual download of Structure.dll (see below).
To set up the Azure Kinect (K4A) version, download and install the Azure Kinect SDK installer from here. Version 1.4.0 was confirmed to work; other versions might work as well. Then, from the installation directory of this SDK (e.g., C:\Program Files\Azure Kinect SDK v1.4.0), copy the following files from the subdirectory sdk\windows-desktop\amd64\release\bin to the directory in which badslam.exe is: depthengine_2_0.dll, k4a.dll, and k4arecord.dll. After this step, badslam.exe can be started.
To set up the Structure Core version, download and unpack the Structure SDK (cross-platform) from the Structure Developer Portal (you may need to be registered for this to be accessible). Then, copy Structure.dll from the subdirectory Libraries\Structure\Windows\x86_64 within the SDK installation into the directory which contains badslam.exe. After this step, badslam.exe can be started.