Again, a big thanks for our new contributor(s) (see below) and everyone reporting/discussing issues!

Dependencies included in the Windows binaries:

• Core: OpenCV 4.13.0 with xfeatures2d and nonfree modules (GPU options enabled on CUDA 11.7 release), PCL 1.15.0 with VTK 9.3, Qt 6.8.3, OpenGV 2020-08-06.
• Drivers:
  • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro, Orbbec Astra) *Kinect for XBOX 360 reported not working on Windows 11 (but works on Windows 10),
  • Freenect2 (UsbDk v1.00-22 should be installed, cuda pipeline available in cuda13.0 release),
  • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
  • Kinect For Azure,
  • RealSense2 2.56.5 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
  • ZED SDK 5.4.0 (enabled on cuda13.0 release) install official SDK to have access to Neural depth strategies,
  • DepthAI 2.32.0 (OAK-D, OAK-D Lite)
  • Orbbec SDK v2 2.8.7 (Astra 2)
• Optimizers: TORO, g2o 2024-12-28, GTSAM 4.3a0-ros, Ceres 2.2.0
• ICP: libpointmatcher 1.4.0, CCCoreLib 2026-06-20
• Reconstruction: OctoMap
• GPU Visual Features (enabled on cuda13.0 release):
  • SuperPoint support with libtorch v0.25.0
    • Tip: to convert weights on your system:

    cd RTABMap/share
    curl -L -O "https://raw.githubusercontent.com/magicleap/SuperPointPretrainedNetwork/master/demo_superpoint.py"
    curl -L -O "https://github.com/magicleap/SuperPointPretrainedNetwork/raw/refs/heads/master/superpoint_v1.pth"
    ..\bin\python.exe rtabmap_trace_superpoint.py
    

  • SuperPoint Rpautrat (weights)
  • CudaSift support (parameter SIFT/Gpu) through this fork
• vcpkg port also available: see build instructions here.

Dependencies included in the MacOS binaries:

Note that MacOS will block the app for security by default. To allow the app to start, after trying to open it, open Privacy and Security settings, scroll down and you will see "Open RTABMap anyway". That doesn't apply to the homebrew way to install.

• Core: OpenCV 4.13.0 with xfeatures2d and nonfree modules, PCL 1.15.1 with VTK 9.6.2, Qt 6.11.1, OpenGV 2020-08-06.
• Drivers:
  • Freenect (Kinect for XBOX 360)
  • RealSense2

First, a big thanks for our new contributor(s) (see below) and everyone reporting/discussing issues!

Dependencies included in the Windows binaries:

• Core: OpenCV 4.7.0 with xfeatures2d and nonfree modules (GPU options enabled on CUDA 11.7 release), PCL 1.15.0 with VTK 9.3, Qt 6.8.3.
• Drivers:
  • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro, Orbbec Astra) *Kinect for XBOX 360 reported not working on Windows 11 (but works on Windows 10),
  • Freenect2 (UsbDk v1.00-22 should be installed, cuda pipeline available in cuda11.7 release),
  • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
  • Kinect For Azure,
  • RealSense2 2.56.3 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
  • Tara (side by side opencv video capture),
  • ZED SDK 5.0.3 (enabled on cuda11.7 release),
  • DepthAI 2.24.0 (OAK-D, OAK-D Lite)
  • NEW Orbbec SDK v2 (Astra 2)
• Optimizers: TORO, g2o 2024-12-14, GTSAM 4.2.0, Ceres 2.2.0
• ICP: libpointmatcher 1.3.1, CCCoreLib 1.0
• Reconstruction: OctoMap
• GPU Visual Features (enabled on cuda11.7 release):
  • SuperPoint support with libtorch
  • CudaSift support (parameter SIFT/Gpu) through this fork
• vcpkg port also available: see build instructions here.

Dependencies included in the MacOS binaries:

• Core: OpenCV 4.12.0 with xfeatures2d and nonfree modules, PCL 1.15.1 with VTK 9.5, Qt 6.9.3.
• Drivers:
  • Freenect (Kinect for XBOX 360)
  • RealSense2 2.57.3 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used) *may crash on some systems or require launching with sudo (e.g., not currently working on M1 Sonoma/Sequoia/Tahoe),
  • Tara (side by side opencv video capture),
  • DepthAI 2.30.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o, GTSAM 4.2.0
• ICP: libpointmatcher 1.4.4
• Reconstruction: OctoMap 1.10.0
• Homebrew binaries also available: brew install rtabmap (add --HEAD for latest master version). Note

First, a big thanks for our new contributors (see below) and everyone reporting/discussing issues!

Dependencies included in the Windows binaries:

• Core: OpenCV 4.7.0 with xfeatures2d and nonfree modules (GPU options enabled on CUDA 11.7 release), PCL 1.15.0 with VTK 9.3, Qt 6.8.3.
• Drivers:
  • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro, Orbbec Astra) *Kinect for XBOX 360 reported not working on Windows 11 (but works on Windows 10),
  • Freenect2 (UsbDk v1.00-22 should be installed, cuda pipeline available in cuda11.7 release),
  • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
  • Kinect For Azure,
  • RealSense2 2.56.3 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
  • Tara (side by side opencv video capture),
  • ZED SDK 5.0.3 (enabled on cuda11.7 release),
  • DepthAI 2.24.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o 2024-12-14, GTSAM 4.2.0, Ceres 2.2.0
• ICP: libpointmatcher 1.3.1, CCCoreLib 1.0
• Reconstruction: OctoMap
• DNN: SuperPoint support with libtorch (enabled on cuda11.7 release)

Dependencies included in the MacOS binaries:

• Core: OpenCV 4.11.0 with xfeatures2d and nonfree modules, PCL 1.15.0 with VTK 9.4, Qt 6.9.0.
• Drivers:
  • RealSense2 2.56.3 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used) *may crash on some systems or require launching with sudo (e.g., not currently working on M1 Sonoma/Sequoia),
  • Tara (side by side opencv video capture),
  • DepthAI 2.30.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o, GTSAM 4.1.0
• ICP: libpointmatcher 1.4.4
• Reconstruction: OctoMap 1.10.0
• Homebrew binaries now available: brew install rtabmap (add --HEAD for latest master version). Note that it has only basic dependencies to visualize, edit or post-process databases (e..g, coming from RTAB-Map for iOS app).

What's Changed

• Remove dependency on qt_gui_cpp. by @clalancette in https://github.com/introlab/rtabmap/pull/1072
• not limitKps inside Feature2D::generateKeypoints when using pyDetector by @hellovuong in https://github.com/introlab/rtabmap/pull/1223
• OAK Internal Sync & DepthAI HF-Net Support by @borongyuan in https://github.com/introlab/rtabmap/pull/1193
• iSAM2 integration by @matlabbe in https://github.com/

First, a big thanks for our new contributors (see below) and everyone reporting/discussing issues!

Dependencies included in the Windows binaries:

• Core: OpenCV 4.7.0 with xfeatures2d and nonfree modules (GPU options enabled on CUDA 11.7 release), PCL 1.14.0 with VTK 9.2.20220823, Qt 6.6.1.
• Drivers:
  • OpenNI and OpenNI2 (Kinect for XBOX 360, Xtion Live Pro, Orbbec Astra) *Kinect for XBOX 360 reported not working on Windows 11 (but works on Windows 10),
  • Freenect2 (UsbDk v1.00-22 should be installed, cuda pipeline available in cuda11.7 release),
  • Kinect for Windows SDK 2.0 (Kinect for XBOX ONE),
  • Kinect For Azure,
  • RealSense2 2.54.2 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used),
  • Tara (side by side opencv video capture),
  • ZED SDK 4.0.8 (enabled on cuda11.7 release),
  • DepthAI 2.24.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o 2020-02-07, GTSAM 4.0.0, Ceres 2.1
• ICP: libpointmatcher 1.3.1, CCCoreLib 1.0
• Reconstruction: OctoMap
• DNN: SuperPoint support with libtorch (enabled on cuda11.7 release)

Dependencies included in the MacOS binaries:

• Core: OpenCV 4.9.0 with xfeatures2d and nonfree modules, PCL 1.14.0 with VTK 9.2.6, Qt 6.6.1.
• Drivers:
  • RealSense2 2.54.2 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used) *may crash on some systems or require launching with sudo (e.g., not currently working on M1 Sonoma),
  • Tara (side by side opencv video capture),
  • DepthAI 2.24.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o, GTSAM 4.1.0
• ICP: libpointmatcher 1.3.1
• Reconstruction: OctoMap 1.98
• Homebrew binaries now available: brew install rtabmap. Note that it has only basic dependencies to visualize, edit or post-process databases (e..g, coming from RTAB-Map for iOS app).

What's Changed

• Fix RGBD with ORB SLAM by @PonyPC in https://github.com/introlab/rtabmap/pull/991
• explicitly set deps to install instead of relying on buildfarm by @matlabbe in https://github.com/introlab/rtabmap/pull/1012
• Added RGBD/LocalizationSmoothing parameter and fixed related issues by @matlabbe in https://github.com/introlab/rtabmap/pull/1032
• Fixed build with gtsam 4.3.0 by @matlabbe in https://github.com/introlab/rtabmap/pull/1033
• Update DepthAI Integration by @borongyuan in https: