diff --git a/.github/workflows/cmake-macos.yml b/.github/workflows/cmake-macos.yml
index a22e3152..b8e8d92a 100644
--- a/.github/workflows/cmake-macos.yml
+++ b/.github/workflows/cmake-macos.yml
@@ -38,7 +38,7 @@ jobs:
     - name: Install Brew Dependencies
       run: |
         # Update brew and install from Brewfile if present, or specific packages
-        brew install pcl opencv octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
+        brew install pcl opencv@4 octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
 
     - name: Install Source Dependencies
       # Build (and per-dependency cache) the source-only deps not available from
diff --git a/README.md b/README.md
index 427c7322..4fd0ec1a 100644
--- a/README.md
+++ b/README.md
@@ -58,7 +58,7 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
             <td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
         </tr>
         <tr>
-            <td rowspan="4">ROS 2</td>
+            <td rowspan="5">ROS 2</td>
             <td>Humble</td>
             <td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
         </tr>
@@ -68,6 +68,10 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
         </tr>
         <tr>
             <td>Kilted</td>
+            <td><a href="http://build.ros2.org/job/Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Lyrical</td>
             <td><a href="http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
         </tr>
         <tr>
diff --git a/corelib/src/FlannIndex.cpp b/corelib/src/FlannIndex.cpp
index b6b09a4c..57cd1217 100644
--- a/corelib/src/FlannIndex.cpp
+++ b/corelib/src/FlannIndex.cpp
@@ -31,9 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/core/Compression.h>
 #include <rtabmap/core/Version.h>
-#ifdef WIN32
 #include <rtabmap/core/Parameters.h>
-#endif
 
 #include "rtflann/flann.hpp"
 #include <boost/crc.hpp>
@@ -179,8 +177,8 @@ std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) cons
 			
 			indexData.resize(bytes_written+headerSizeBytes);
 			indexData.shrink_to_fit();
-			int rebalancingFactorAsInt;
-			memcpy(&rebalancingFactorAsInt, &rebalancingFactor_, sizeof(rebalancingFactor_));
+			int rebalancingFactorAsInt; // Deprecated
+			memcpy(&rebalancingFactorAsInt, &rebalancingFactor_, sizeof(rebalancingFactor_)); // Deprecated
 			int crcValueAsInt;
 			memcpy(&crcValueAsInt, &crcValue, sizeof(crcValue));
 			int header[FLANN_INDEX_HEADER_SIZE] = {
@@ -188,7 +186,7 @@ std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) cons
 					algorithm_,                                                          // 3,
 					featuresDim_,                                                        // 4,
 					useDistanceL1_?1:0,                                                  // 5,
-					rebalancingFactorAsInt,                                              // 6,
+					rebalancingFactorAsInt,                                              // 6, Deprecated
 					dataRows,                                                            // 7,
 					dataCols,                                                            // 8,			
 					dataType,                                                            // 9,
@@ -199,7 +197,7 @@ std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) cons
 				header[3],
 				header[4],
 				header[5],
-				rebalancingFactor_,
+				rebalancingFactor_, // Deprecated
 				header[7], header[8], header[9], crcValueAsInt, 
 				header[11]);
 			memcpy(indexData.data(), header, headerSizeBytes);
@@ -405,8 +403,8 @@ bool FlannIndex::loadIndex(
 	int savedAlgorithm = header[3];
 	int savedDim = header[4];
 	bool savedDistanceL1 = header[5]==1;
-	float savedRebalancingFactor;
-	memcpy(&savedRebalancingFactor, &header[6], sizeof(header[6]));
+	float savedRebalancingFactor; // Deprecated
+	memcpy(&savedRebalancingFactor, &header[6], sizeof(header[6])); // Deprecated
 	int savedRows = header[7];
 	int savedCols = header[8];
 	int savedType = header[9];
@@ -414,12 +412,13 @@ bool FlannIndex::loadIndex(
 	 memcpy(&savedCrc, &header[10], sizeof(header[10]));
 	int savedIndexSize = header[11];
 
-	UDEBUG("Header: \"%d.%d.%d\" alg=%d dim=%d L1=%d factor=%f data(%dx%d type=%d, crc=%X) %d", 
+	UDEBUG("Header: \"%d.%d.%d\" alg=%d dim=%d L1=%d factor=%f (deprecated, using %f instead) data(%dx%d type=%d, crc=%X) index size = %d bytes", 
 				header[0],header[1],header[2],
 				header[3],
 				header[4],
 				header[5],
-				savedRebalancingFactor,
+				savedRebalancingFactor, // Deprecated
+				rebalancingFactor,
 				header[7], header[8], header[9], savedCrc, 
 				header[11]);
 
@@ -441,12 +440,6 @@ bool FlannIndex::loadIndex(
 		}
 		return false;
 	}
-	if(savedRebalancingFactor != rebalancingFactor) {
-		if(error) {
-			*error = uFormat("Serialized \"rebalancing factor\" (%f) doesn't match the expected one (%f).", savedRebalancingFactor, rebalancingFactor);
-		}
-		return false;
-	}
 	if(savedRows != features.rows) {
 		if(error) {
 			*error = uFormat("Serialized feature count (%d) doesn't match the expected one (%d).", savedRows, features.rows);