rtabmap Files

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 2.58.2 (T265, D415, D435, D435i, L515, D400 Series visual presets can be used) would require starting the app in sudo*,
  • Orbbec SDK v2 2.8.7 (Astra 2) would require starting the app in sudo*,
  • DepthAI 2.32.0 (OAK-D, OAK-D Lite)
• Optimizers: TORO, g2o, GTSAM 4.2.1
• ICP: libpointmatcher 1.4.4
• Reconstruction: OctoMap 1.10.0
• Homebrew binaries also 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).
• Tip: to start with sudo for drivers requiring it: sudo /Applications/RTABMap.app/Contents/MacOS/RTABMap

What's Changed

• 0.23.2: make g2o sba type check more portable (vcpkg build issue) by @matlabbe in https://github.com/introlab/rtabmap/pull/1597
• SuperPoint by @Dekempsy4 in https://github.com/introlab/rtabmap/pull/1603
• Prioritize neighbor links in Optimizer::getConnectedGraph() by @matlabbe in https://github.com/introlab/rtabmap/pull/1610
• ORB-SLAM3 IMU support fixes by @matlabbe in https://github.com/introlab/rtabmap/pull/1612
• Limit Max Features by @Dekempsy4 in https://github.com/introlab/rtabmap/pull/1614
• DbViewer: coloring graph based on env sensor value by @matlabbe in https://github.com/introlab/rtabmap/pull/1613
• Graph viewer optimizations by @matlabbe in https://github.com/introlab/rtabmap/pull/1616
• Removed gcc 4 constraint on unix by @matlabbe in https://github.com/introlab/rtabmap/pull/1624
• CuVSLAM 14 Update by @Dekempsy4 in https://github.com/introlab/rtabmap/pull/1618
• support gtsam 4.3 header migration by @v4hn in https://github.com/introlab/rtabmap/pull/1626
• CameraOrbbecSDK: support explicit rate on non-TOF cameras. by @matlabbe in https://github.com/introlab/rtabmap/pull/1627
• Added realsense2 playback support (bag) by @matlabbe in https://github.com/introlab/rtabmap/pull/1636
• DBReader: added ignore imu option, GUI: added tf overrides option by @matlabbe in https://github.com/introlab/rtabmap/pull/1637
• Cleanup OccupancyGrid's cellCount_ unused member (#1639) by @matlabbe in https://github.com/introlab/rtabmap/pull/1640
• Read-only localization mode by @matlabbe in https://github.com/introlab/rtabmap/pull/1643
• fix another typo for ceres optimizer by @borongyuan in https://github.com/introlab/rtabmap/pull/1645
• Support proximity detection when switching back to mapping mode by @matlabbe in https://github.com/introlab/rtabmap/pull/1644
• Detect more loop closures from/to specific map ID only option by @matlabbe in https://github.com/introlab/rtabmap/pull/1653
• Automated dictionary recovery/repairing by @matlabbe in https://github.com/introlab/rtabmap/pull/1669
• Adding OpenGV as submodule (optional) by @matlabbe in https://github.com/introlab/rtabmap/pull/1656
• Split CI artifacts by @matlabbe in https://github.com/introlab/rtabmap/pull/1672
• Add params to filter out poor stereo flow matches by @borongyuan in https://github.com/introlab/rtabmap/pull/1667
• CID-SIMS support by @matlabbe in https://github.com/introlab/rtabmap/pull/1676
• rtabmap-matcher: Added option to recfify raw images for convenience by @matlabbe in https://github.com/introlab/rtabmap/pull/1663
• Cudasift tuning and SSC supporting multicameras by @matlabbe in https://github.com/introlab/rtabmap/pull/1677
• OptimizerG2O: adding support for priors in SBA by @matlabbe in https://github.com/introlab/rtabmap/pull/1670
• Update CI badges by @matlabbe in https://github.com/introlab/rtabmap/pull/1681
• New rtabmap-reduceGraph CLI tool by @matlabbe in https://github.com/introlab/rtabmap/pull/1655
• Fixing prior and gravity constraints support for SBA with orbslam dep… by @matlabbe in https://github.com/introlab/rtabmap/pull/1683
• Add LIO-SAM as an odometry strategy by @abhi2198 in https://github.com/introlab/rtabmap/pull/1684
• Enable WITH_PYTHON on CI by @matlabbe in https://github.com/introlab/rtabmap/pull/1689
• Support intermediate nodes with memory management enabled by @matlabbe in https://github.com/introlab/rtabmap/pull/1687
• Correct the Jacobian calculation of GravityFactor by @borongyuan in https://github.com/introlab/rtabmap/pull/1692
• Preserve the attributes of intermediate nodes when retrieving data from the database by @borongyuan in https://github.com/introlab/rtabmap/pull/1694
• Auto graph repairing by @matlabbe in https://github.com/introlab/rtabmap/pull/1691
• Various QoL (refactored RTABMAP_VERSION_COMPARE) by @matlabbe in https://github.com/introlab/rtabmap/pull/1695
• Fixing Rolling CI on Noble by @matlabbe in https://github.com/introlab/rtabmap/pull/1696
• Adding macos CI by @matlabbe in https://github.com/introlab/rtabmap/pull/1699
• Adding CI Macos status in readme by @matlabbe in https://github.com/introlab/rtabmap/pull/1700
• Remove macos ci cache by @matlabbe in https://github.com/introlab/rtabmap/pull/1701
• Save intermediate node input features by @matlabbe in https://github.com/introlab/rtabmap/pull/1698
• Fixing libpng warning: iCCP: known incorrect sRGB profile by @matlabbe in https://github.com/introlab/rtabmap/pull/1703
• Fix [#1706] by @matlabbe in https://github.com/introlab/rtabmap/pull/1708
• Fixed empty global map on ros (regression from [#1698]) by @matlabbe in https://github.com/introlab/rtabmap/pull/1709
• Adding support for AprilTag v3 library by @matlabbe in https://github.com/introlab/rtabmap/pull/1702
• Fixed backward compatibility with bionic (Qt::ItemFlags) by @matlabbe in https://github.com/introlab/rtabmap/pull/1710
• rtabmap-info: fixing empty parameter strings showing of as NA by @matlabbe in https://github.com/introlab/rtabmap/pull/1712
• PyDetector: adding check if returned descriptors are empty by @matlabbe in https://github.com/introlab/rtabmap/pull/1715
• Fixing empty descriptors on bad signatures (#1714), (bug from [#1698]) by @matlabbe in https://github.com/introlab/rtabmap/pull/1717
• TORO: adding support to load 2d graph by @matlabbe in https://github.com/introlab/rtabmap/pull/1718
• OpenVINS config file support by @matlabbe in https://github.com/introlab/rtabmap/pull/1719
• Reprocess: adding --stop_loop option by @matlabbe in https://github.com/introlab/rtabmap/pull/1720
• CI Ubuntu 26.04 / ROS2 Lyrical and Rolling by @matlabbe in https://github.com/introlab/rtabmap/pull/1716
• iOS CI by @matlabbe in https://github.com/introlab/rtabmap/pull/1722
• CameraImages: support reading multicamera image and calibration files by @matlabbe in https://github.com/introlab/rtabmap/pull/1721
• MacOS and Windows binaries update (0.23.8) by @matlabbe in https://github.com/introlab/rtabmap/pull/1726
• Windows CI: make vcpkg download compatible with draft release by @matlabbe in https://github.com/introlab/rtabmap/pull/1727

New Contributors

• @v4hn made their first contribution in https://github.com/introlab/rtabmap/pull/1626
• @abhi2198 made their first contribution in https://github.com/introlab/rtabmap/pull/1684

Full Changelog: https://github.com/introlab/rtabmap/compare/0.23.1...0.23.8