v0.23.8

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

New Contributors

• @v4hn made their first contribution in #1626
• @abhi2198 made their first contribution in #1684

Full Changelog: 0.23.1...0.23.8