fixing deps

only build for lyrical in its devel branch
2026-10-06 01:57:45 +08:00 · 2026-06-21 15:09:35 -07:00 · 2026-06-21 12:52:54 -07:00
56 changed files with 793 additions and 3731 deletions
@@ -1,266 +0,0 @@
-name: 'Install macOS Source Dependencies'
-description: 'Builds (and per-dependency caches) the source-only deps not available from Homebrew (GTSAM, libnabo+libpointmatcher, OrbbecSDK, depthai) and installs them into /usr/local.'
-inputs:
-  os:
-    description: 'Runner os label (e.g. matrix.os), used to namespace the per-dependency caches. Required because intel/arm produce different binaries with identical Homebrew version strings.'
-    required: true
-  build_type:
-    description: 'CMake build type.'
-    required: false
-    default: 'Release'
-runs:
-  using: "composite"
-  steps:
-    - name: Resolve dependency versions
-      id: depver
-      shell: bash
-      # The source deps link against these Homebrew libraries and are compiled
-      # with Xcode's toolchain, so both are folded into the cache keys: a
-      # Homebrew bump (e.g. a new Eigen) or an Xcode update forces a rebuild.
-      run: |
-        BREW=$(brew list --versions eigen boost yaml-cpp | sort)
-        XCODE=$(xcodebuild -version 2>/dev/null || clang --version | head -1)
-        HASH=$(printf '%s\n%s\n' "$BREW" "$XCODE" | shasum | cut -d' ' -f1)
-        echo "hash=$HASH" >> "$GITHUB_OUTPUT"
-
-    # ----------------------------- GTSAM -----------------------------
-    - name: Cache GTSAM
-      id: cache-gtsam
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/gtsam
-        key: gtsam-4.2.1-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build GTSAM
-      if: steps.cache-gtsam.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/gtsam"
-        STAGE="${{ runner.temp }}/deps-stage/gtsam"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam"
-        cd "$SRC/gtsam"
-        git apply "$PATCHES/gtsam-4.2.1-eigen5.patch"
-        cmake -B build \
-          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-          -DGTSAM_WITH_TBB=OFF \
-          -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-          -DGTSAM_BUILD_TESTS=OFF \
-          -DGTSAM_BUILD_UNSTABLE=OFF \
-          -DGTSAM_USE_SYSTEM_EIGEN=ON \
-          -DCMAKE_POLICY_VERSION_MINIMUM=3.5
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ----------------- libnabo + libpointmatcher --------------------
-    # Built together: libpointmatcher depends on libnabo, so keeping them in one
-    # unit keeps the build order internal (lpm finds libnabo in the unit's stage).
-    - name: Cache pointmatcher
-      id: cache-pointmatcher
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/pointmatcher
-        key: pointmatcher-nabo1.1.2-lpm1.4.4-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch', '.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build pointmatcher
-      if: steps.cache-pointmatcher.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/pointmatcher"
-        STAGE="${{ runner.temp }}/deps-stage/pointmatcher"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        # libnabo (required by libpointmatcher)
-        git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$SRC/libnabo"
-        cd "$SRC/libnabo"
-        git apply "$PATCHES/libnabo-1.1.2.patch"
-        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }}
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-        # libpointmatcher (finds libnabo from the unit's staged prefix)
-        git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$SRC/libpointmatcher"
-        cd "$SRC/libpointmatcher"
-        git apply "$PATCHES/libpointmatcher-1.4.4-boost.patch"
-        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ----------------------------- OrbbecSDK ------------------------
-    - name: Cache OrbbecSDK
-      id: cache-orbbec
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/orbbec
-        key: orbbec-2.8.7-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build OrbbecSDK
-      if: steps.cache-orbbec.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/orbbec"
-        STAGE="${{ runner.temp }}/deps-stage/orbbec"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$SRC/OrbbecSDK_v2"
-        cd "$SRC/OrbbecSDK_v2"
-        git apply "$PATCHES/orbbecsdk-2.8.7-cmake-config-install.patch"
-        # OrbbecSDK defaults its install prefix to /opt/OrbbecSDK; force /usr/local
-        # so it stages under usr/local like the other deps and is installed/found.
-        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_INSTALL_PREFIX=/usr/local -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ----------------------------- depthai --------------------------
-    - name: Cache depthai
-      id: cache-depthai
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/depthai
-        key: depthai-2.32.0-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build depthai
-      if: steps.cache-depthai.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/depthai"
-        STAGE="${{ runner.temp }}/deps-stage/depthai"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        # depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
-        git clone --depth 1 --branch v2.32.0 https://github.com/luxonis/depthai-core.git "$SRC/depthai-core"
-        cd "$SRC/depthai-core"
-        git submodule update --init --recursive
-        # Route zlib to Homebrew: Hunter's pinned zlib fork has a classic
-        # TARGET_OS_MAC fdopen block that won't compile against the modern macOS SDK.
-        git apply "$PATCHES/depthai-2.32.0-hunter-macos.patch"
-        # v2 and its old Hunter deps declare cmake_minimum_required < 3.5, which the
-        # runner's CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not
-        # propagate into Hunter's sub-builds. Use a pinned CMake 3.x just for depthai
-        # (Hunter reuses the same cmake binary for its dependency sub-builds).
-        python3 -m venv "$SRC/cmake3-venv"
-        "$SRC/cmake3-venv/bin/pip" install -q "cmake==3.31.6"
-        CMAKE3="$SRC/cmake3-venv/bin/cmake"
-        # DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
-        # fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
-        # depthai-core defaults its install prefix to <build>/install; force
-        # /usr/local so it stages under usr/local like the other deps.
-        "$CMAKE3" -B build \
-          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-          -DCMAKE_INSTALL_PREFIX=/usr/local \
-          -DBUILD_SHARED_LIBS=ON \
-          -DDEPTHAI_ENABLE_CURL=OFF \
-          -DDEPTHAI_BUILD_TESTS=OFF \
-          -DDEPTHAI_BUILD_EXAMPLES=OFF \
-          -DCMAKE_PREFIX_PATH="$(brew --prefix zlib)"
-        "$CMAKE3" --build build -j$NPROC
-        DESTDIR="$STAGE" "$CMAKE3" --install build
-
-    # ----------------------------- opengv ---------------------------
-    - name: Cache opengv
-      id: cache-opengv
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/opengv
-        key: opengv-91f4b19c-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build opengv
-      if: steps.cache-opengv.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/opengv"
-        STAGE="${{ runner.temp }}/deps-stage/opengv"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        # opengv pins a commit (not a tag), so clone then checkout.
-        git clone https://github.com/laurentkneip/opengv.git "$SRC/opengv"
-        cd "$SRC/opengv"
-        git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
-        # Disable the -march=native/armv7-a/armv8-a flags so it builds portably on
-        # both Intel and Apple Silicon runners.
-        git apply "$PATCHES/opengv-91f4b19c-macos.patch"
-        # CMAKE_POLICY_VERSION_MINIMUM=3.5: opengv declares an ancient
-        # cmake_minimum_required that modern CMake rejects. EIGEN_INCLUDE_DIR points
-        # opengv's bundled FindEigen at Homebrew's eigen (covers /opt/homebrew on arm64).
-        cmake -B build \
-          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-          -DCMAKE_INSTALL_PREFIX=/usr/local \
-          -DBUILD_TESTS=OFF \
-          -DBUILD_SHARED_LIBS=ON \
-          -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
-          -DEIGEN_INCLUDE_DIR="$(brew --prefix eigen)/include/eigen3"
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ----------------------------- g2o ------------------------------
-    - name: Cache g2o
-      id: cache-g2o
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/g2o
-        key: g2o-67cbe15c-${{ inputs.os }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build g2o
-      if: steps.cache-g2o.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        SRC="${{ runner.temp }}/src-deps/g2o"
-        STAGE="${{ runner.temp }}/deps-stage/g2o"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        # g2o pins a commit (not a tag), so clone then checkout.
-        git clone https://github.com/RainerKuemmerle/g2o.git "$SRC/g2o"
-        cd "$SRC/g2o"
-        git checkout 67cbe15c998737ac6705d3cd18201a72be0d073d
-        # CMAKE_INSTALL_PREFIX=/usr/local so it stages under usr/local like the
-        # other deps. Homebrew's libomp is keg-only and g2o does not propagate
-        # OpenMP's include/lib dirs, so with Apple clang <omp.h> isn't found and
-        # libomp isn't linked; add its include (-I) and lib (-L -lomp) explicitly.
-        LIBOMP=$(brew --prefix libomp)
-        cmake -B build \
-          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-          -DCMAKE_INSTALL_PREFIX=/usr/local \
-          -DCMAKE_PREFIX_PATH="$LIBOMP" \
-          -DCMAKE_C_FLAGS="-I$LIBOMP/include" \
-          -DCMAKE_CXX_FLAGS="-I$LIBOMP/include" \
-          -DCMAKE_EXE_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
-          -DCMAKE_SHARED_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
-          -DG2O_BUILD_APPS=OFF \
-          -DG2O_BUILD_EXAMPLES=OFF \
-          -DG2O_USE_OPENMP=ON \
-          -DG2O_USE_OPENGL=OFF
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ------------------- install all units into /usr/local ----------
-    - name: Install source dependencies into /usr/local
-      shell: bash
-      # Copy each (cached or freshly built) staged tree into /usr/local so
-      # rtabmap's find_package() and the bundle fixup (which search /usr/local)
-      # pick them up. Runs on both cache hit and miss.
-      run: |
-        set -e
-        STAGE="${{ runner.temp }}/deps-stage"
-        found=0
-        for unit in gtsam pointmatcher orbbec depthai opengv g2o; do
-          if [ -d "$STAGE/$unit/usr/local" ]; then
-            sudo cp -a "$STAGE/$unit/usr/local/." /usr/local/
-            found=1
-          fi
-        done
-        if [ "$found" != "1" ]; then
-          echo "No staged source dependencies found under $STAGE" >&2
-          exit 1
-        fi
@@ -1,41 +0,0 @@
-diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
-index 6b0b44f98..672c26402 100644
--- a/cmake/depthaiDependencies.cmake
-+++ b/cmake/depthaiDependencies.cmake
-@@ -17,7 +17,9 @@ else()
-     hunter_add_package(FP16)
-     hunter_add_package(libarchive-luxonis)
-     hunter_add_package(spdlog)
-    hunter_add_package(ZLIB)
-+    # ZLIB: use the system/Homebrew copy instead of Hunter's (the old pinned
-+    # zlib fork fails to build against the modern macOS SDK). Found below via
-+    # the standard FindZLIB module, which provides the same ZLIB::ZLIB target.
-     if(DEPTHAI_ENABLE_BACKWARD)
-         hunter_add_package(Backward)
-     endif()
-@@ -45,8 +47,23 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
-     # libarchive for firmware packages
-     find_package(archive_static ${_QUIET} CONFIG REQUIRED)
-     find_package(lzma ${_QUIET} CONFIG REQUIRED)
-    # ZLIB for compressing Apps
-    find_package(ZLIB CONFIG REQUIRED)
-+    # ZLIB for compressing Apps.
-+    # Use the system/Homebrew zlib directly instead of Hunter's: Hunter's pinned
-+    # zlib fork fails to build against the modern macOS SDK, and Hunter also
-+    # intercepts find_package(ZLIB) via its own FindZLIB on the module path, so
-+    # we locate it manually and expose the ZLIB::zlib target depthai expects.
-+    find_path(SYSTEM_ZLIB_INCLUDE_DIR NAMES zlib.h)
-+    find_library(SYSTEM_ZLIB_LIBRARY NAMES z)
-+    if(NOT SYSTEM_ZLIB_INCLUDE_DIR OR NOT SYSTEM_ZLIB_LIBRARY)
-+        message(FATAL_ERROR "System zlib not found (looked for zlib.h and libz). Install via: brew install zlib")
-+    endif()
-+    if(NOT TARGET ZLIB::zlib)
-+        add_library(ZLIB::zlib UNKNOWN IMPORTED)
-+        set_target_properties(ZLIB::zlib PROPERTIES
-+            IMPORTED_LOCATION "${SYSTEM_ZLIB_LIBRARY}"
-+            INTERFACE_INCLUDE_DIRECTORIES "${SYSTEM_ZLIB_INCLUDE_DIR}"
-+        )
-+    endif()
- 
-     # spdlog for library and device logging
-     find_package(spdlog ${_QUIET} CONFIG REQUIRED)
@@ -1,83 +0,0 @@
-diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
-index b3b4f66b6..651cd1009 100644
--- a/cmake/HandleEigen.cmake
-+++ b/cmake/HandleEigen.cmake
-@@ -59,7 +59,12 @@ else()
- endif()
-
- # Detect Eigen version:
-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
-+# Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
-+# to a dedicated Eigen/Version header, so check the new location first.
-+set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/Version")
-+if (NOT EXISTS ${EIGEN_VER_H})
-+    set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
-+endif()
- if (EXISTS ${EIGEN_VER_H})
-     file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
-
-diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
-index cfedf6d8c..9c9771407 100644
--- a/gtsam/base/Matrix.h
-+++ b/gtsam/base/Matrix.h
-@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>;  \
- using Matrix8##N = Eigen::Matrix<double, 8, N>;  \
- using Matrix9##N = Eigen::Matrix<double, 9, N>;  \
- static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
-+static const decltype(Matrix##N::Zero()) Z_##N##x##N = Matrix##N::Zero();
-
- GTSAM_MAKE_MATRIX_DEFS(1)
- GTSAM_MAKE_MATRIX_DEFS(2)
-diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
-index f7923ff88..5410393f6 100644
--- a/gtsam/base/Vector.h
-+++ b/gtsam/base/Vector.h
-@@ -27,6 +27,7 @@
-
- #include <gtsam/global_includes.h>
- #include <Eigen/Core>
-+#include <cassert>
- #include <iosfwd>
- #include <list>
-
-@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
- typedef Eigen::Vector2d Vector2;
- typedef Eigen::Vector3d Vector3;
-
-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
-+static const decltype(Vector2::Zero()) Z_2x1 = Vector2::Zero();
-+static const decltype(Vector3::Zero()) Z_3x1 = Vector3::Zero();
-
- // Create handy typedefs and constants for vectors with N>3
- // VectorN and Z_Nx1, for N=1..9
- #define GTSAM_MAKE_VECTOR_DEFS(N)                \
-   using Vector##N = Eigen::Matrix<double, N, 1>; \
-  static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
-+  static const decltype(Vector##N::Zero()) Z_##N##x1 = Vector##N::Zero();
-
- GTSAM_MAKE_VECTOR_DEFS(4)
- GTSAM_MAKE_VECTOR_DEFS(5)
-diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h
-index 22f65b8de..20a0c936e 100644
--- a/gtsam/linear/iterative.h
-+++ b/gtsam/linear/iterative.h
-@@ -61,7 +61,7 @@ namespace gtsam {
-
-     /** Apply operator A'*e */
-     Vector operator^(const Vector& e) const {
-      return A_ ^ e;
-+      return gtsam::operator^(A_, e);
-     }
-
-     /**
-@@ -71,7 +71,7 @@ namespace gtsam {
-
-     /** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
-     Vector gradient(const Vector& x) const {
-      return A() ^ (A() * x - b());
-+      return gtsam::operator^(A(), Vector(A() * x - b()));
-     }
-
-     /** Apply operator A */
@@ -1,87 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a5f0c44..69340e4 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -78,18 +78,18 @@ elseif ()
- 	endif ()
- endif ()
-
-# enable C++11 support.
-+# enable C++14 support (required by recent Eigen versions).
- if (CMAKE_VERSION VERSION_LESS "3.1")
- 	if (MSVC)
- 		message(FATAL_ERROR "CMake version 3.1 or later is required to compile ${PROJECT_NAME} with Microsoft Visual C++")
- 	endif ()
- 	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-		set (CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
-+		set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
- 	else ()
-		set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
-+		set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
- 	endif ()
- else ()
-	set (CMAKE_CXX_STANDARD 11)
-+	set (CMAKE_CXX_STANDARD 14)
- endif ()
-
- #======================== External Dependencies ===============================
-diff --git a/experimental/kdtree_cpu.cpp b/experimental/kdtree_cpu.cpp
-index 302b672..d63fcd3 100644
--- a/experimental/kdtree_cpu.cpp
-+++ b/experimental/kdtree_cpu.cpp
-@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- #include "nabo_experimental.h"
- #include "../nabo/index_heap.h"
-+#include <cassert>
- #include <iostream>
- #include <stdexcept>
- #include <limits>
-diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
-index cb1f8d1..52a444f 100644
--- a/nabo/kdtree_cpu.cpp
-+++ b/nabo/kdtree_cpu.cpp
-@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- #include <queue>
- #include <algorithm>
- #include <utility>
-+#include <cassert>
- #ifdef HAVE_OPENMP
- #include <omp.h>
- #endif
-diff --git a/nabo/kdtree_opencl.cpp b/nabo/kdtree_opencl.cpp
-index 5a9fee2..fb1345f 100644
--- a/nabo/kdtree_opencl.cpp
-+++ b/nabo/kdtree_opencl.cpp
-@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- #include "nabo_private.h"
- #include "index_heap.h"
-+#include <cassert>
- #include <iostream>
- #include <sstream>
- #include <fstream>
-diff --git a/tests/knnshow.cpp b/tests/knnshow.cpp
-index 6f4d3fc..c612378 100644
--- a/tests/knnshow.cpp
-+++ b/tests/knnshow.cpp
-@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
- #include "nabo/nabo.h"
-+#include <cassert>
- #include <iostream>
- #include <fstream>
- #include <stdexcept>
-diff --git a/tests/knnvalidate.cpp b/tests/knnvalidate.cpp
-index 2430249..2a7dcc4 100644
--- a/tests/knnvalidate.cpp
-+++ b/tests/knnvalidate.cpp
-@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- #include "nabo/nabo.h"
- #include "helpers.h"
- //#include "experimental/nabo_experimental.h"
-+#include <cassert>
- #include <iostream>
- #include <fstream>
- #include <stdexcept>
@@ -1,32 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9dabfd0..7b73418 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -128,9 +128,9 @@ endif()
- #--------------------
- # DEPENDENCY:  boost
- #--------------------
-find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)
-+find_package(Boost REQUIRED COMPONENTS thread program_options date_time)
- if (Boost_MINOR_VERSION GREATER 47)
-	find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)
-+	find_package(Boost REQUIRED COMPONENTS thread program_options date_time chrono)
- endif ()
-
- #--------------------
-diff --git a/libpointmatcherConfig.cmake.in b/libpointmatcherConfig.cmake.in
-index 6de2c85..7c887fd 100644
--- a/libpointmatcherConfig.cmake.in
-+++ b/libpointmatcherConfig.cmake.in
-@@ -7,9 +7,9 @@
- include(CMakeFindDependencyMacro)
- find_dependency(libnabo REQUIRED)
- find_dependency(yaml-cpp REQUIRED)
-find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)
-+find_package(Boost COMPONENTS thread program_options date_time REQUIRED)
- if (Boost_MINOR_VERSION GREATER 47)
-  find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)
-+  find_package(Boost COMPONENTS thread program_options date_time chrono REQUIRED)
- endif ()
- include(${CMAKE_CURRENT_LIST_DIR}/libpointmatcher-config.cmake)
-
@@ -1,309 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9660f55..0186da4 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -31,12 +31,12 @@ IF(MSVC)
-   add_definitions(-D_USE_MATH_DEFINES)
- ELSE()
-   IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(arm64)|(ARM64)|(aarch64)|(AARCH64)")
-    add_definitions (-march=armv8-a)
-+    #add_definitions (-march=armv8-a)
-   ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES 
-           "(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)")
-    add_definitions (-march=armv7-a)
-+    #add_definitions (-march=armv7-a)
-   ELSE ()
-    add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
-+    #add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
-   ENDIF()
-   add_definitions (
-     -O3
-@@ -181,7 +181,7 @@ add_library( random_generators test/random_generators.cpp test/random_generators
- set_target_properties( opengv random_generators PROPERTIES
-                     SOVERSION ${PROJECT_VERSION}
-                     VERSION ${PROJECT_VERSION}
-                    CXX_STANDARD 11
-+                    CXX_STANDARD 14
-                     CXX_STANDARD_REQUIRED ON
-                     DEBUG_POSTFIX d )
- 
-@@ -329,7 +329,7 @@ IF (BUILD_TESTS)
-     test_Sturm
- 
-     PROPERTIES
-    CXX_STANDARD 11
-+    CXX_STANDARD 14
-     CXX_STANDARD_REQUIRED ON
-     DEBUG_POSTFIX d )
- 
-diff --git a/modules/FindEigen.cmake b/modules/FindEigen.cmake
-index 126f4a0..39b5524 100644
--- a/modules/FindEigen.cmake
-+++ b/modules/FindEigen.cmake
-@@ -30,7 +30,13 @@ if(NOT Eigen_FIND_VERSION)
- endif(NOT Eigen_FIND_VERSION)
- 
- macro(_eigen3_check_version)
-  file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-+  # Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
-+  # to a dedicated Eigen/Version header, so check the new location first.
-+  if(EXISTS "${EIGEN_INCLUDE_DIR}/Eigen/Version")
-+    file(READ "${EIGEN_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header)
-+  else()
-+    file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-+  endif()
- 
-   string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-   set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
-diff --git a/src/absolute_pose/CentralAbsoluteAdapter.cpp b/src/absolute_pose/CentralAbsoluteAdapter.cpp
-index 684fa7e..a4ff2bd 100644
--- a/src/absolute_pose/CentralAbsoluteAdapter.cpp
-+++ b/src/absolute_pose/CentralAbsoluteAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
- 
- 
-diff --git a/src/absolute_pose/MACentralAbsolute.cpp b/src/absolute_pose/MACentralAbsolute.cpp
-index 6edbabc..1687d45 100644
--- a/src/absolute_pose/MACentralAbsolute.cpp
-+++ b/src/absolute_pose/MACentralAbsolute.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/MACentralAbsolute.hpp>
- 
- 
-diff --git a/src/absolute_pose/MANoncentralAbsolute.cpp b/src/absolute_pose/MANoncentralAbsolute.cpp
-index d9b5b09..a7ae689 100644
--- a/src/absolute_pose/MANoncentralAbsolute.cpp
-+++ b/src/absolute_pose/MANoncentralAbsolute.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/MANoncentralAbsolute.hpp>
- 
- opengv::absolute_pose::MANoncentralAbsolute::MANoncentralAbsolute(
-diff --git a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
-index 30176aa..6a0e405 100644
--- a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
-+++ b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
- 
- opengv::absolute_pose::NoncentralAbsoluteAdapter::NoncentralAbsoluteAdapter(
-diff --git a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
-index 88c237a..58a82f4 100644
--- a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
-+++ b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp>
- 
- opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::NoncentralAbsoluteMultiAdapter(
-diff --git a/src/absolute_pose/methods.cpp b/src/absolute_pose/methods.cpp
-index b1f0889..19c4eaf 100644
--- a/src/absolute_pose/methods.cpp
-+++ b/src/absolute_pose/methods.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/methods.hpp>
- #include <opengv/Indices.hpp>
- 
-diff --git a/src/absolute_pose/modules/main.cpp b/src/absolute_pose/modules/main.cpp
-index ed0c271..99f7f35 100644
--- a/src/absolute_pose/modules/main.cpp
-+++ b/src/absolute_pose/modules/main.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <Eigen/NonLinearOptimization>
- #include <Eigen/NumericalDiff>
- 
-diff --git a/src/math/arun.cpp b/src/math/arun.cpp
-index a0d6296..f5c0ac3 100644
--- a/src/math/arun.cpp
-+++ b/src/math/arun.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/math/arun.hpp>
- 
- opengv::rotation_t
-diff --git a/src/point_cloud/MAPointCloud.cpp b/src/point_cloud/MAPointCloud.cpp
-index 81fd5dd..cdccae3 100644
--- a/src/point_cloud/MAPointCloud.cpp
-+++ b/src/point_cloud/MAPointCloud.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/point_cloud/MAPointCloud.hpp>
- 
- opengv::point_cloud::MAPointCloud::MAPointCloud(
-diff --git a/src/point_cloud/PointCloudAdapter.cpp b/src/point_cloud/PointCloudAdapter.cpp
-index f9faaeb..28fbb7e 100644
--- a/src/point_cloud/PointCloudAdapter.cpp
-+++ b/src/point_cloud/PointCloudAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/point_cloud/PointCloudAdapter.hpp>
- 
- opengv::point_cloud::PointCloudAdapter::PointCloudAdapter(
-diff --git a/src/point_cloud/methods.cpp b/src/point_cloud/methods.cpp
-index 5409eeb..7a26e6a 100644
--- a/src/point_cloud/methods.cpp
-+++ b/src/point_cloud/methods.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/point_cloud/methods.hpp>
- #include <opengv/Indices.hpp>
- 
-diff --git a/src/relative_pose/CentralRelativeAdapter.cpp b/src/relative_pose/CentralRelativeAdapter.cpp
-index 38e9a62..5018bd8 100644
--- a/src/relative_pose/CentralRelativeAdapter.cpp
-+++ b/src/relative_pose/CentralRelativeAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/CentralRelativeAdapter.hpp>
- 
- opengv::relative_pose::CentralRelativeAdapter::CentralRelativeAdapter(
-diff --git a/src/relative_pose/CentralRelativeMultiAdapter.cpp b/src/relative_pose/CentralRelativeMultiAdapter.cpp
-index 2ab7476..49a3a07 100644
--- a/src/relative_pose/CentralRelativeMultiAdapter.cpp
-+++ b/src/relative_pose/CentralRelativeMultiAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/CentralRelativeMultiAdapter.hpp>
- 
- opengv::relative_pose::CentralRelativeMultiAdapter::CentralRelativeMultiAdapter(
-diff --git a/src/relative_pose/CentralRelativeWeightingAdapter.cpp b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
-index a6ab478..7684526 100644
--- a/src/relative_pose/CentralRelativeWeightingAdapter.cpp
-+++ b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/CentralRelativeWeightingAdapter.hpp>
- 
- opengv::relative_pose::CentralRelativeWeightingAdapter::CentralRelativeWeightingAdapter(
-diff --git a/src/relative_pose/MACentralRelative.cpp b/src/relative_pose/MACentralRelative.cpp
-index ec2959f..75e76d5 100644
--- a/src/relative_pose/MACentralRelative.cpp
-+++ b/src/relative_pose/MACentralRelative.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/MACentralRelative.hpp>
- 
- opengv::relative_pose::MACentralRelative::MACentralRelative(
-diff --git a/src/relative_pose/MANoncentralRelative.cpp b/src/relative_pose/MANoncentralRelative.cpp
-index cea9c14..8566aeb 100644
--- a/src/relative_pose/MANoncentralRelative.cpp
-+++ b/src/relative_pose/MANoncentralRelative.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/MANoncentralRelative.hpp>
- 
- opengv::relative_pose::MANoncentralRelative::MANoncentralRelative(
-diff --git a/src/relative_pose/MANoncentralRelativeMulti.cpp b/src/relative_pose/MANoncentralRelativeMulti.cpp
-index 49f8ecf..8b62e07 100644
--- a/src/relative_pose/MANoncentralRelativeMulti.cpp
-+++ b/src/relative_pose/MANoncentralRelativeMulti.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/MANoncentralRelativeMulti.hpp>
- 
- opengv::relative_pose::MANoncentralRelativeMulti::MANoncentralRelativeMulti(
-diff --git a/src/relative_pose/NoncentralRelativeAdapter.cpp b/src/relative_pose/NoncentralRelativeAdapter.cpp
-index 552f180..775d520 100644
--- a/src/relative_pose/NoncentralRelativeAdapter.cpp
-+++ b/src/relative_pose/NoncentralRelativeAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/NoncentralRelativeAdapter.hpp>
- 
- opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter(
-diff --git a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
-index f41edbe..733023c 100644
--- a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
-+++ b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp>
- 
- opengv::relative_pose::NoncentralRelativeMultiAdapter::NoncentralRelativeMultiAdapter(
-diff --git a/src/relative_pose/methods.cpp b/src/relative_pose/methods.cpp
-index 0027dae..7678567 100644
--- a/src/relative_pose/methods.cpp
-+++ b/src/relative_pose/methods.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/methods.hpp>
- #include <opengv/Indices.hpp>
- 
-diff --git a/src/relative_pose/modules/fivept_nister/modules.cpp b/src/relative_pose/modules/fivept_nister/modules.cpp
-index 4b134c5..258d416 100644
--- a/src/relative_pose/modules/fivept_nister/modules.cpp
-+++ b/src/relative_pose/modules/fivept_nister/modules.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/modules/fivept_nister/modules.hpp>
- #include <Eigen/NonLinearOptimization>
- #include <Eigen/NumericalDiff>
@@ -1,29 +0,0 @@
-diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
-index 261f2cda..644e068f 100644
--- a/src/CMakeLists.txt
-+++ b/src/CMakeLists.txt
-@@ -92,17 +92,20 @@ if(OB_IS_MAIN_PROJECT)
-     )
- 
-     install(FILES "${CMAKE_CURRENT_BINARY_DIR}/generated/Export.h" DESTINATION include/libobsensor/h)
-    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib)
-+    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib/cmake/${OB_SDK_LIB_NAME})
- 
-     include(CMakePackageConfigHelpers)
-+    # Name the version file <pkg>ConfigVersion.cmake (not <pkg>Version.cmake) and
-+    # install it next to the config in lib/cmake/<pkg>, so find_package(OrbbecSDK)
-+    # discovers it in config mode and reads its version.
-     write_basic_package_version_file(
-        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
-+        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
-         VERSION "${PROJECT_VERSION}"
-         COMPATIBILITY SameMajorVersion
-     )
-     install(
-        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
-        DESTINATION lib
-+        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
-+        DESTINATION lib/cmake/${OB_SDK_LIB_NAME}
-     )
-     if(MSVC)
-         install(FILES $<TARGET_PDB_FILE:${OB_SDK_LIB_NAME}> DESTINATION bin OPTIONAL)
@@ -26,7 +26,7 @@ runs:
      uses: actions/cache@v4
      with:
        path: ${{ runner.workspace }}/vcpkg_installed
-        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v4
+        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v1

    - name: Download and Install vcpkg
      if: steps.cache-vcpkg.outputs.cache-hit != 'true'
@@ -35,25 +35,10 @@ runs:
        $install_dir = "${{ runner.workspace }}\vcpkg_installed"
        $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"

-        # The 7z is built locally with bundle_windows_deps_cuda.bat and uploaded to a
-        # GitHub release. Resolve it by filename via the API (authenticated with the
-        # built-in token) so it works even from a *draft* release and regardless of
-        # the (changing) asset id. Requires the workflow to run in-repo (github.token
-        # can't read introlab drafts from a fork PR).
-        $repo = "introlab/rtabmap"
-        $releaseTag = "0.23.8"
-        $assetName = "vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
-        $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
-        # Select the release by tag_name (populated on drafts too, and unique), then
-        # take the asset from THAT release so concurrent releases can't be confused.
-        $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
-               Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
-        if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
-        $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
-        if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
-        Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
-        $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
-        Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath
+        # The file has been built locally with bundle-windows-deps.bat
+        $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
+
+        Invoke-WebRequest -Uri $url -OutFile $archivePath
        & 7z x $archivePath "-o$install_dir" -y

    - name: Add vcpkg to PATH and env variable
@@ -61,9 +46,7 @@ runs:
      run: |
        $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
        echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
-        echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append     
        echo "${{env.CUDA_PATH}}\bin\x64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
        echo "${{env.CUDA_PATH}}\extras\CUPTI\lib64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\torch\lib" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
@@ -13,7 +13,7 @@ runs:
      uses: actions/cache@v4
      with:
        path: ${{ runner.workspace }}/vcpkg_installed
-        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v6
+        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v4

    - name: Download and Install vcpkg
      if: steps.cache-vcpkg.outputs.cache-hit != 'true'
@@ -22,25 +22,10 @@ runs:
        $install_dir = "${{ runner.workspace }}\vcpkg_installed"
        $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"

-        # The 7z is built locally with bundle_windows_deps.bat and uploaded to a
-        # GitHub release. Resolve it by filename via the API (authenticated with the
-        # built-in token) so it works even from a *draft* release and regardless of
-        # the (changing) asset id. Requires the workflow to run in-repo (github.token
-        # can't read introlab drafts from a fork PR).
-        $repo = "introlab/rtabmap"
-        $releaseTag = "0.23.8"
-        $assetName = "vcpkg-export-66c0373d-x64-vs2022.7z"
-        $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
-        # Select the release by tag_name (populated on drafts too, and unique), then
-        # take the asset from THAT release so concurrent releases can't be confused.
-        $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
-               Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
-        if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
-        $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
-        if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
-        Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
-        $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
-        Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath
+        # The file has been built locally with bundle-windows-deps.bat
+        $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022.7z"
+
+        Invoke-WebRequest -Uri $url -OutFile $archivePath
        & 7z x $archivePath "-o$install_dir" -y

    - name: Add vcpkg to PATH and env variable
@@ -49,6 +34,4 @@ runs:
        $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
        echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
-        echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
@@ -26,45 +26,32 @@ jobs:
        include:
        - build_name: macos-sequoia-intel
          os: macos-15-intel
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
        - build_name: macos-sequoia-apple-silicon
          os: macos-15
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
        - build_name: macos-tahoe-intel
          os: macos-26-intel
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
        - build_name: macos-tahoe-apple-silicon
          os: macos-26
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+
    steps:
    - uses: actions/checkout@v4

    - 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
-
-    - name: Install Source Dependencies
-      # Build (and per-dependency cache) the source-only deps not available from
-      # Homebrew, then install them into /usr/local. See the composite action.
-      uses: ./.github/actions/install-macos-source-deps
-      with:
-        os: ${{ matrix.os }}
-        build_type: ${{ env.BUILD_TYPE }}
+        brew install pcl opencv octomap g2o pdal

    - name: Configure CMake
      run: |
-        # Apple clang has no built-in OpenMP; point find_package(OpenMP) at
-        # Homebrew's keg-only libomp so PCL/g2o/rtabmap enable OpenMP instead of
-        # repeatedly logging "Could NOT find OpenMP".
-        LIBOMP=$(brew --prefix libomp)
-        cmake -B ${{github.workspace}}/build \
-          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
-          -DBUILD_AS_BUNDLE=ON \
-          -DWITH_ORBBEC_SDK=ON \
-          -DWITH_DEPTHAI=ON \
-          -DWITH_CERES=ON \
-          -DOpenMP_C_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
-          -DOpenMP_C_LIB_NAMES=omp \
-          -DOpenMP_CXX_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
-          -DOpenMP_CXX_LIB_NAMES=omp \
-          -DOpenMP_omp_LIBRARY="$LIBOMP/lib/libomp.dylib"
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}

    - name: Build
      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
@@ -74,19 +61,19 @@ jobs:
      run: |
        ./rtabmap-console --version

-    - name: Build MacOS Package
-      run: |
-        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
+#    - name: Build MacOS Package
+#      run: |
+#        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package

-    - name: Upload RTABMap Artifacts (DMG)
-      uses: actions/upload-artifact@v4
-      with:
-        name: RTABMap-Binaries-${{ matrix.build_name }}-nonsigned-zip
-        path: |
-          build/RTABMap-*.dmg
-        compression-level: 0
-        if-no-files-found: warn
-        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+#    - name: Upload RTABMap Artifacts (DMG)
+#      uses: actions/upload-artifact@v4
+#      with:
+#        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
+#        path: |
+#          build/RTABMap-*.dmg
+#        compression-level: 0
+#        if-no-files-found: warn
+#        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}

 #    - name: Test
 #      working-directory: ${{github.workspace}}/build
@@ -3,7 +3,7 @@ name: CMake-ROS
 on:
  push:
    branches: 
-      - master
+      - lyrical-devel
  pull_request:
    branches: 
      - '**'
@@ -27,18 +27,10 @@ jobs:
    strategy:
      fail-fast: false
      matrix:
-        ros_distribution: [ humble, jazzy, kilted, lyrical, rolling]
+        ros_distribution: [ lyrical ]
        include:
-        - ros_distribution: 'humble'
-          skip_keys: ""
-        - ros_distribution: 'jazzy'
-          skip_keys: ""
-        - ros_distribution: 'kilted'
-          skip_keys: ""
        - ros_distribution: 'lyrical'
-          skip_keys: "libpointmatcher"
-        - ros_distribution: 'rolling'
-          skip_keys: ""
+          skip_keys: "" # When releasing to ROS2, the skip_keys shoudl be empty, patch these deps in package.xml instead.
    container:
      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
    steps:   
@@ -27,11 +27,11 @@ jobs:
        - build_name: windows-2022
          os: windows-2022
          extra_deps: ""
-          extra_cmake_def: '-DWITH_TORCH=OFF -DWITH_ZED=OFF'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=OFF'
        - build_name: windows-2022-cuda
          os: windows-2022
          extra_deps: ""
-          extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=ON'

    steps:
    - uses: actions/checkout@v4
@@ -46,24 +46,9 @@ jobs:

    - name: Configure CMake
      run: |
-        # K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake
-        # and the install rules), pointing at the export where the bundle staged their SDK files.
-        $env:K4A_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
-        $env:KINECTSDK20_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
-        $env:ZED_SDK_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
        cmake `
          -B ${{github.workspace}}/build `
          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
-          -DBUILD_AS_BUNDLE=ON `
-          -DWITH_PYTHON=ON `
-          -DWITH_CERES=ON `
-          -DWITH_ORBBEC_SDK=ON `
-          -DWITH_FREENECT2=ON `
-          -DWITH_K4W2=ON `
-          -DWITH_K4A=ON `
-          -DWITH_DEPTHAI=ON `
-          -DWITH_REALSENSE2=ON `
-          -DWITH_CCCORELIB=ON `
          ${{ matrix.extra_cmake_def }} `
          -DVCPKG_MANIFEST_INSTALL=OFF `
          -DVCPKG_TARGET_TRIPLET=x64-windows-release `
@@ -74,14 +59,6 @@ jobs:
    - name: Build
      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

-    - name: Info
-      # Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64),
-      # which need the NVIDIA driver; the GPU-less runner can't load the exe.
-      if: matrix.build_name != 'windows-2022-cuda'
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        ./rtabmap-console --version
-
    - name: Build Windows Package
      shell: pwsh
      run: |
@@ -96,6 +73,11 @@ jobs:
      shell: pwsh
      run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }

+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
    - name: Upload RTABMap Artifacts (ZIP)
      uses: actions/upload-artifact@v4
      with:
@@ -12,9 +12,3 @@ compile_flags.txt
 tags
 build_*
 *.bak
-
-# Windows bundle: vcpkg tree, build output, and deps built from source (bundle_windows_deps.bat)
-vcpkg/
-vcpkg_installed/
-vcpkg_binaries/
-vcpkg_deps_from_source/
@@ -22,7 +22,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 23)
-SET(RTABMAP_PATCH_VERSION 8)
+SET(RTABMAP_PATCH_VERSION 7)
 SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})

@@ -208,7 +208,7 @@ option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
 option(WITH_REALSENSE2    "Include RealSense2 support"           ON)
 option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
-option(WITH_DEPTHAI       "Include depthai-core v2 support"      OFF)
+option(WITH_DEPTHAI       "Include depthai-core support"         OFF)
 option(WITH_XVSDK         "Include XVisio SDK support"           OFF)
 option(WITH_ORBBEC_SDK    "Include Orbbec SDK v2 support"        OFF)
 option(WITH_OCTOMAP       "Include OctoMap support"              ON)
@@ -711,9 +711,7 @@ IF(WITH_MYNTEYE)
 ENDIF(WITH_MYNTEYE)

 IF(WITH_DEPTHAI)
-    # Force DepthAI major version 2 (>=2.24, <3.0): the v3 API is not yet
-    # supported (see CameraDepthAI).
-    FIND_PACKAGE(depthai 2.24...<3.0)
+    FIND_PACKAGE(depthai 2.24)
    IF(depthai_FOUND)
       MESSAGE(STATUS "Found depthai-core (targets)")
    ENDIF(depthai_FOUND)
@@ -1879,7 +1877,7 @@ MESSAGE(STATUS "  With DepthAI ${depthai_VERSION}       = YES (License: MIT)")
 ELSEIF(NOT WITH_DEPTHAI)
 MESSAGE(STATUS "  With DepthAI              = NO (WITH_DEPTHAI=OFF)")
 ELSE()
-MESSAGE(STATUS "  With DepthAI              = NO (depthai-core v2 not found)")
+MESSAGE(STATUS "  With DepthAI              = NO (depthai-core not found)")
 ENDIF()

 IF(xvsdk_FOUND)
@@ -24,25 +24,17 @@ IF(WIN32)
  ELSE( MINGW )
    SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc)
  ENDIF( MINGW )
-ENDIF(WIN32)
-
-IF(BUILD_AS_BUNDLE)
-  ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
+ENDIF(WIN32)
+
+IF(BUILD_AS_BUNDLE)
+  ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
 ENDIF()

 # Add binary
 IF(APPLE AND BUILD_AS_BUNDLE)
  ADD_EXECUTABLE(rtabmap_app MACOSX_BUNDLE ${SRC_FILES})
-  # Custom Info.plist providing NSCameraUsageDescription, required by macOS to
-  # grant the app access to USB/UVC cameras (e.g. Orbbec, RealSense). A bundle
-  # identifier is also set: macOS ties the camera (TCC) permission to it, so it
-  # must be non-empty for the permission to be granted/persisted.
-  SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
-    MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/Info.plist.in
-    MACOSX_BUNDLE_GUI_IDENTIFIER "com.introlab.rtabmap"
-    MACOSX_BUNDLE_BUNDLE_NAME "${CMAKE_BUNDLE_NAME}")
 ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
-  ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
+  ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ELSE()
  ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ENDIF()
@@ -78,13 +70,13 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
  SET(thirdparty_dest_dir bin)
 
  IF(APPLE)
-    SET(plugin_dest_dir MacOS/plugins)
-    IF(Qt6_FOUND)
-       SET(plugin_dest_dir PlugIns)
+    SET(plugin_dest_dir MacOS/plugins)
+    IF(Qt6_FOUND)
+       SET(plugin_dest_dir PlugIns)
    ENDIF()
    SET(qtconf_dest_dir Resources)
    SET(thirdparty_dest_dir MacOS)
-    SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
+    SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
  ENDIF(APPLE)

  IF(OpenNI2_FOUND)
@@ -111,26 +103,12 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
  ENDIF(OpenNI2_FOUND)
  
  IF(k4a_FOUND)
-	# Install needed depthengine_2_0.dll. Its location varies by K4A SDK version:
-	# v1.4.1 ships it under sdk/windows-desktop/amd64/release/bin, or fallback in tools/.
+	# Install needed depthengine_2_0.dll
    IF(WIN32)
 		file(TO_CMAKE_PATH "$ENV{K4A_ROOT_DIR}" ENV_K4A_ROOT_DIR)
-		set(DEPTHENGINE_DLL "")
-		foreach(_depthengine_dir
-			"${ENV_K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/bin"
-			"${ENV_K4A_ROOT_DIR}/tools")
-			if(EXISTS "${_depthengine_dir}/depthengine_2_0.dll")
-				set(DEPTHENGINE_DLL "${_depthengine_dir}/depthengine_2_0.dll")
-				break()
-			endif()
-		endforeach()
-		IF(DEPTHENGINE_DLL)
-			INSTALL(FILES "${DEPTHENGINE_DLL}"
-              DESTINATION ${thirdparty_dest_dir}
-              COMPONENT runtime)
-		ELSE()
-			MESSAGE(WARNING "depthengine_2_0.dll not found under $ENV{K4A_ROOT_DIR} (sdk/windows-desktop/amd64/release/bin or tools); Kinect for Azure depth may not work at runtime.")
-		ENDIF()
+		INSTALL(FILES "${ENV_K4A_ROOT_DIR}/tools/depthengine_2_0.dll" 
+          DESTINATION ${thirdparty_dest_dir} 
+          COMPONENT runtime)
 	ENDIF(WIN32)
  ENDIF(k4a_FOUND)
  
@@ -151,30 +129,14 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
        IF(NOT OrbbecSDK_BIN_DIR)
            MESSAGE(FATAL_ERROR "OrbbecSDK.dll not found! Verify your PATH.")
        ENDIF(NOT OrbbecSDK_BIN_DIR)
-        MESSAGE(STATUS "OrbbecSDK_BIN_DIR=${OrbbecSDK_BIN_DIR}")
+		MESSAGE(FATAL "OrbbecSDK_BIN_DIR=${OrbbecSDK_BIN_DIR}")
        INSTALL(DIRECTORY "${OrbbecSDK_BIN_DIR}/extensions" 
          DESTINATION ${thirdparty_dest_dir} 
          COMPONENT runtime 
          FILES_MATCHING
          PATTERN "*.lib" EXCLUDE
          PATTERN "*")
-    ELSEIF(APPLE)
-        # OrbbecSDK loads its extensions (frame processor, filters like
-        # FrameUnpacker) via dlopen relative to libOrbbecSDK. fixup_bundle puts
-        # libOrbbecSDK in Contents/Frameworks, so the extensions must sit next to
-        # it in Frameworks/extensions (they reference @rpath/libOrbbecSDK, which
-        # resolves via the app executable's @executable_path/../Frameworks rpath).
-        # Without this the camera is detected but frame processing fails.
-        get_filename_component(OrbbecSDK_LIB_DIR "${OrbbecSDK_DIR}/../.." ABSOLUTE)
-        INSTALL(DIRECTORY "${OrbbecSDK_LIB_DIR}/extensions"
-          DESTINATION Frameworks
-          COMPONENT runtime)
-        IF(EXISTS "${OrbbecSDK_LIB_DIR}/OrbbecSDKConfig.xml")
-          INSTALL(FILES "${OrbbecSDK_LIB_DIR}/OrbbecSDKConfig.xml"
-            DESTINATION Frameworks
-            COMPONENT runtime)
-        ENDIF()
-    ENDIF(WIN32)
+	ENDIF(WIN32)
  ENDIF(OrbbecSDK_FOUND)
  
  IF(Torch_FOUND)
@@ -279,49 +241,14 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
 	ENDIF(WIN32)
  ENDIF(Python3_FOUND)
  
-  IF(Qt6_FOUND AND APPLE)
-    # On macOS we do NOT use qt_deploy_runtime_dependencies (macdeployqt):
-    # macdeployqt cannot deploy VTK 9.6+, whose libraries reference each other
-    # via @rpath relative to "@loader_path/../lib". Instead we install the Qt plugins
-    # manually and let fixup_bundle() below deploy all libraries.
-    IF(TARGET Qt6::QCocoaIntegrationPlugin)
-      get_target_property(_qt_plugin_loc Qt6::QCocoaIntegrationPlugin LOCATION)
-      get_filename_component(_qt_plugins_dir "${_qt_plugin_loc}" DIRECTORY) # .../plugins/platforms
-      get_filename_component(_qt_plugins_dir "${_qt_plugins_dir}" DIRECTORY) # .../plugins
-      FOREACH(_qt_plugin_type platforms styles imageformats iconengines)
-        IF(EXISTS "${_qt_plugins_dir}/${_qt_plugin_type}")
-          # Homebrew Qt plugins are symlinks into the Cellar; resolve them to the
-          # real files so they aren't installed as dangling symlinks (which would
-          # break fixup_bundle and codesign).
-          FILE(GLOB _qt_plugin_files "${_qt_plugins_dir}/${_qt_plugin_type}/*${CMAKE_SHARED_LIBRARY_SUFFIX}")
-          SET(_qt_plugin_real "")
-          FOREACH(_qt_plugin_file ${_qt_plugin_files})
-            GET_FILENAME_COMPONENT(_qt_plugin_file "${_qt_plugin_file}" REALPATH)
-            LIST(APPEND _qt_plugin_real "${_qt_plugin_file}")
-          ENDFOREACH()
-          IF(_qt_plugin_real)
-            INSTALL(FILES ${_qt_plugin_real}
-                    DESTINATION ${plugin_dest_dir}/${_qt_plugin_type}
-                    COMPONENT runtime)
-          ENDIF()
-        ENDIF()
-      ENDFOREACH()
-    ELSE()
-      MESSAGE(WARNING "Qt6::QCocoaIntegrationPlugin target not found: Qt plugins may be missing from the bundle")
-    ENDIF()
-    # qt.conf so Qt finds the bundled plugins (path is relative to Contents/)
-    SET(QT_CONF_FILE [Paths]\nPlugins=${plugin_dest_dir})
-    INSTALL(CODE "
-      file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
-      " COMPONENT runtime)
-  ELSEIF(Qt6_FOUND)
+  IF(Qt6_FOUND)
 	# Reference: https://doc-snapshots.qt.io/qt6-6.4/qt-deploy-runtime-dependencies.html
 	# The following script must only be executed at install time
 	set(deploy_script "${CMAKE_CURRENT_BINARY_DIR}/deploy_app$<CONFIG>.cmake")
 	file(GENERATE OUTPUT ${deploy_script} CONTENT "
 	# Including the file pointed to by QT_DEPLOY_SUPPORT ensures the generated
 	# deployment script has access to qt_deploy_runtime_dependencies()
-	include(\"${QT_DEPLOY_SUPPORT}\")
+	include(\"${QT_DEPLOY_SUPPORT}\")
 	qt_deploy_runtime_dependencies(
 		EXECUTABLE \"${APPS}\"
 		PLUGINS_DIR ${plugin_dest_dir}
@@ -401,13 +328,10 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
      INSTALL(CODE "
        file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
        " COMPONENT runtime)
-  ENDIF()
+  ENDIF()

  # directories to look for dependencies
-  # CMAKE_LIBRARY_OUTPUT_DIRECTORY is where rtabmap's own libraries (e.g.
-  # librtabmap_core) are built; fixup_bundle needs it to resolve the app's
-  # @rpath references to them (macdeployqt used to handle this via rpath).
-  SET(DIRS "${QT_LIBRARY_DIRS}" "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
+  SET(DIRS "${QT_LIBRARY_DIRS}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
  IF(APPLE)
    SET(DIRS ${DIRS} /usr/local /usr/local/lib /opt/homebrew /opt/homebrew/lib /opt/homebrew/lib/gcc/current)
  ENDIF(APPLE)
@@ -421,17 +345,7 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
  install(CODE "
    # Glob Qt Plugins
    file(GLOB_RECURSE ALL_LIBS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
-
-    # OrbbecSDK loads its filter/frame-processor extensions via dlopen, and they
-    # link @rpath/libOrbbecSDK. Feed them to fixup_bundle so their reference is
-    # rewritten to the embedded libOrbbecSDK
-    file(GLOB ORBBEC_EXT_LIBS
-        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/Frameworks/extensions/filters/*${CMAKE_SHARED_LIBRARY_SUFFIX}\"
-        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/Frameworks/extensions/frameprocessor/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
-    if(ORBBEC_EXT_LIBS)
-        list(APPEND ALL_LIBS \${ORBBEC_EXT_LIBS})
-    endif()
-
+    
    if(NOT \"${python_pyd_dir}\" STREQUAL \"\")
        file(GLOB_RECURSE PYD_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/*.pyd\")
        if(PYD_FILES)
@@ -447,37 +361,8 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
 	
    set(BU_CHMOD_BUNDLE_ITEMS ON)
    include(\"BundleUtilities\")
-    # nvcuvid.dll (NVDEC) and nvEncodeAPI64.dll (NVENC), and the CUDA driver API
-    # nvcuda.dll, ship with the NVIDIA GPU driver (System32), not the CUDA toolkit,
-    # so they are absent on driver-less CI runners and must never be bundled (they
-    # are resolved at runtime from the end user's driver). Mark them 'system' so
-    # fixup_bundle skips them instead of failing to resolve them.
-    function(gp_resolved_file_type_override resolved_file type_var)
-      if(resolved_file MATCHES \"(nvcuvid|nvEncodeAPI64|nvcuda)\")
-        set(\${type_var} \"system\" PARENT_SCOPE)
-      endif()
-    endfunction()
    fixup_bundle(\"${APPS}\" \"\${ALL_LIBS}\" \"${DIRS}\")
  " COMPONENT runtime)
-
-  IF(APPLE)
-    # Re-sign ad-hoc AFTER fixup_bundle has finished all its install_name_tool
-    # edits.
-    install(CODE "
-      set(_contents \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}\")
-      get_filename_component(_app \"\${_contents}\" DIRECTORY)
-      file(GLOB_RECURSE _nested \"\${_contents}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
-      foreach(_f \${_nested})
-        execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_f}\")
-      endforeach()
-      file(GLOB _frameworks \"\${_contents}/Frameworks/*.framework\")
-      foreach(_f \${_frameworks})
-        execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_f}\")
-      endforeach()
-      message(STATUS \"Ad-hoc re-signing bundle: \${_app}\")
-      execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_app}\")
-    " COMPONENT runtime)
-  ENDIF(APPLE)
-
+  
 ENDIF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
  
@@ -1,40 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-<dict>
-	<key>NSPrincipalClass</key>
-	<string>NSApplication</string>
-	<key>NSHighResolutionCapable</key>
-	<string>True</string>
-	<key>CFBundleDevelopmentRegion</key>
-	<string>English</string>
-	<key>CFBundleExecutable</key>
-	<string>${MACOSX_BUNDLE_EXECUTABLE_NAME}</string>
-	<key>CFBundleGetInfoString</key>
-	<string>${MACOSX_BUNDLE_INFO_STRING}</string>
-	<key>CFBundleIconFile</key>
-	<string>${MACOSX_BUNDLE_ICON_FILE}</string>
-	<key>CFBundleIdentifier</key>
-	<string>${MACOSX_BUNDLE_GUI_IDENTIFIER}</string>
-	<key>CFBundleInfoDictionaryVersion</key>
-	<string>6.0</string>
-	<key>CFBundleLongVersionString</key>
-	<string>${MACOSX_BUNDLE_LONG_VERSION_STRING}</string>
-	<key>CFBundleName</key>
-	<string>${MACOSX_BUNDLE_BUNDLE_NAME}</string>
-	<key>CFBundlePackageType</key>
-	<string>APPL</string>
-	<key>CFBundleShortVersionString</key>
-	<string>${MACOSX_BUNDLE_SHORT_VERSION_STRING}</string>
-	<key>CFBundleSignature</key>
-	<string>????</string>
-	<key>CFBundleVersion</key>
-	<string>${MACOSX_BUNDLE_BUNDLE_VERSION}</string>
-	<key>CSResourcesFileMapped</key>
-	<true/>
-	<key>NSHumanReadableCopyright</key>
-	<string>${MACOSX_BUNDLE_COPYRIGHT}</string>
-	<key>NSCameraUsageDescription</key>
-	<string>RTAB-Map needs access to the camera to capture images from connected RGB-D/stereo cameras (e.g. Orbbec, RealSense).</string>
-</dict>
-</plist>
@@ -52,10 +52,6 @@ int main(int argc, char* argv[])
 	ULogger::setLevel(ULogger::kWarning);

 #ifdef WIN32
-	// STA (single-threaded apartment) is required for the native file dialogs / File Explorer
-	// (see commit d75cc04, "Fixed File Explorer hanging (Qt 5.12)"). Do NOT switch to MTA
-	// (CoInitializeEx COINIT_MULTITHREADED): it deadlocks the
-	// native file dialogs.
 	CoInitialize(nullptr);
 #endif

@@ -64,12 +60,6 @@ int main(int argc, char* argv[])
    QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
 #endif

-	// Recommended by VTK when using QVTKOpenGLNativeWidget (a QOpenGLWidget): let all VTK
-	// render widgets share a single OpenGL context, which is needed for correct rendering
-	// when render widgets live in / move across multiple top-level windows. Must be set
-	// before QApplication is constructed.
-	QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
-
 	/* Create tasks */
 	QApplication * app = new QApplication(argc, argv);
 	app->setStyleSheet("QMessageBox { messagebox-text-interaction-flags: 5; }"); // selectable message box
@@ -4,8 +4,6 @@ setlocal enabledelayedexpansion
 :: --- CONFIGURATION ---
 set "VCPKG_ROOT=%~dp0vcpkg"
 set "EXPORT_DIR=%~dp0vcpkg_binaries"
-:: All deps downloaded/built from source (git clones + the pinned CMake) live here.
-set "SRC_DIR=%~dp0vcpkg_deps_from_source"
 set "TRIPLET=x64-windows-release"
 set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"

@@ -45,8 +43,7 @@ echo [+] Installing dependencies via vcpkg manifest...
    --x-feature=openni2 ^
    --x-feature=gtsam-deps ^
    --x-feature=python ^
-    --x-feature=libpointmatcher-deps ^
-    --x-feature=libfreenect2-deps || exit /b !errorlevel!
+    --x-feature=libpointmatcher-deps || exit /b !errorlevel!

 :: 3. Export
 echo [+] Exporting built binaries to raw folder...
@@ -55,7 +52,13 @@ for /f "usebackq tokens=*" %%i in (`"%VS_LOCATOR%" -latest -property catalog_pro
 set TARGET_NAME=vcpkg-export-%VCPKG_COMMIT_SHORT%-x64-%VS_YEAR%
 set TARGET_FULL_PATH=%EXPORT_DIR%\%TARGET_NAME%
 if exist "%TARGET_FULL_PATH%" rd /s /q "%TARGET_FULL_PATH%"
-"%VCPKG_ROOT%\vcpkg.exe" export --raw --output-dir="%EXPORT_DIR%" --output=%TARGET_NAME% --triplet=%TRIPLET%  || exit /b !errorlevel!
+"%VCPKG_ROOT%\vcpkg.exe" export --raw --output-dir="%EXPORT_DIR%" --triplet=%TRIPLET%  || exit /b !errorlevel!
+
+:: Find the actual exported folder name (it usually contains a date/hash)
+for /d %%i in ("%EXPORT_DIR%\vcpkg-export-20??????-??????") do set "FINAL_EXPORT_PATH=%%i"
+
+echo [+] Rename folder %FINAL_EXPORT_PATH% to %TARGET_NAME%
+ren "%FINAL_EXPORT_PATH%" "%TARGET_NAME%" || exit /b !errorlevel!
 set "FINAL_EXPORT_PATH=%TARGET_FULL_PATH%"

 echo [+] Add numpy...
@@ -65,72 +68,6 @@ echo [+] Add numpy...
 %FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install "numpy<2" || exit /b !errorlevel!

 :: 4. Other dependencies not in vcpkg
-:: Everything cloned/downloaded below goes into %SRC_DIR% to keep the repo root clean.
-if not exist "%SRC_DIR%" mkdir "%SRC_DIR%"
-cd /d "%SRC_DIR%"
-
-:: Kinect for Windows SDK v2 (k4w2): rtabmap's FindKinectSDK2.cmake expects the
-:: Microsoft SDK layout (KINECTSDK20_DIR\inc and \Lib\x64), but vcpkg's kinectsdk2
-:: port installs vcpkg-style (include\ and lib\). Mirror the bundled headers/lib into
-:: the expected layout so it is found with KINECTSDK20_DIR pointing at the export.
-if "%KINECTSDK20_DIR%"=="" (
-    echo Error: KINECTSDK20_DIR environment variable is not set! Install Kinect for Windows SDK v2: https://www.microsoft.com/en-us/download/details.aspx?id=44561
-    pause
-    exit /b 1
-)
-echo [+] Arranging Kinect SDK v2 layout for FindKinectSDK2...
-set "K4W2_ROOT=%FINAL_EXPORT_PATH%\installed\%TRIPLET%"
-robocopy "%K4W2_ROOT%\include" "%K4W2_ROOT%\inc" Kinect*.h Nui*.h /XO >nul
-robocopy "%K4W2_ROOT%\lib" "%K4W2_ROOT%\Lib\x64" Kinect20*.lib /XO >nul
-robocopy "%KINECTSDK20_DIR%\bin" "%K4W2_ROOT%\bin" Kinect20.dll /XO >nul
-:: Robocopy exit codes under 8 mean successful copies/no changes; 8+ is a failure.
-if !errorlevel! GEQ 8 (
-    echo Error: Robocopy failed with exit code !errorlevel!
-    pause
-    exit /b !errorlevel!
-)
-
-:: orbbec SDK2
-echo [+] Building OrbbecSDK_v2...
-if not exist OrbbecSDK_v2 (
-    echo [+] Downloading and applying patch...
-    git clone https://github.com/orbbec/OrbbecSDK_v2.git
-    cd OrbbecSDK_v2
-    git checkout v2.8.7
-    :: Install the CMake package config under lib/cmake/<pkg> so find_package(OrbbecSDK) works
-    git apply "%~dp0patches\orbbecsdk_2.8.7.patch"
-    cd ..
-)
-cd OrbbecSDK_v2
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DOB_BUILD_DOCS=OFF ^
-  -DOB_BUILD_EXAMPLES=OFF ^
-  -DOB_BUILD_TOOLS=OFF ^
-  -DOB_INSTALL_EXAMPLES_SOURCE=OFF || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-if "%K4A_ROOT_DIR%"=="" (
-    echo Error: K4A_ROOT_DIR environment variable is not set! Install K4A: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md
-    pause
-    exit /b 1
-)
-echo Copying Kinect For Azure components...
-robocopy "%K4A_ROOT_DIR%\sdk" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\sdk" /E /XO
-:: Robocopy exit codes under 8 mean successful copies/no changes. 
-:: 8 or higher means there was a failure.
-if !errorlevel! GEQ 8 (
-    echo Error: Robocopy failed with exit code !errorlevel!
-    pause
-    exit /b !errorlevel!
-)
-
 :: libnabo
 echo [+] Building libnabo...
 if not exist libnabo (
@@ -139,7 +76,7 @@ if not exist libnabo (
    cd libnabo
    :: Jan 27, 2022
    git checkout c925c47
-    git apply "%~dp0patches\libnabo_c925c47.patch"
+    git apply ../patches/libnabo_c925c47.patch
    cd ..
 )
 cd libnabo
@@ -166,7 +103,7 @@ if not exist libpointmatcher (
    cd libpointmatcher
    :: Mar 17, 2023
    git checkout 7dc58e5
-    git apply "%~dp0patches\pointmatcher_7dc58e5.patch"
+    git apply ../patches/pointmatcher_7dc58e5.patch
    cd ..
 )
 cd libpointmatcher
@@ -199,7 +136,7 @@ if not exist gtsam (
    :: June 18, 2025
    git checkout 4.3a0-ros
    git cherry-pick 18af4e6
-    git apply "%~dp0patches\gtsam_4_3a0-ros.patch"
+    git apply ../patches/gtsam_4_3a0-ros.patch
    cd ..
 )
 cd gtsam
@@ -230,7 +167,7 @@ if not exist opengv (
    cd opengv
    :: Aug 6, 2020
    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
-    git apply "%~dp0patches\opengv_91f4b19c.patch"
+    git apply ../patches/opengv_91f4b19c.patch
    cd ..
 )
 cd opengv
@@ -245,117 +182,6 @@ cmake -S . -B build -GNinja ^
 cmake --build build --config Release --target install || exit /b !errorlevel!
 cd ..

-:: libfreenect2
-echo [+] Building libfreenect2...
-if not exist libfreenect2 (
-    echo [+] Downloading and applying patch...
-    git clone https://github.com/OpenKinect/libfreenect2.git
-    cd libfreenect2
-    :: Aug 6, 2021
-    git checkout v0.2.1
-    :: Patch makes freenect2Config.cmake relocatable so the prebuilt bundle works
-    :: after being moved/unzipped, drops cudaDeviceProp::clockRate/computeMode
-    :: removed in CUDA 13 from the CUDA build, and renames a CL_ICDL_VERSION local
-    :: that collides with the OpenCL 3.0 macro.
-    git apply "%~dp0patches\libfreenect2_v0.2.1.patch"
-    cd ..
-)
-cd libfreenect2
-:: libfreenect2's FindLibUSB.cmake locates libusb via pkg-config. It declares an
-:: ancient cmake_minimum_required (2.8.12), which makes FindPkgConfig default
-:: PKG_CONFIG_USE_CMAKE_PREFIX_PATH=OFF, so it ignores the vcpkg CMAKE_PREFIX_PATH.
-:: Force it ON so the bundle's lib/pkgconfig (libusb-1.0.pc, libturbojpeg.pc) is
-:: searched, use the vcpkg-bundled pkgconf, and also set PKG_CONFIG_PATH as a belt.
-set "PKG_CONFIG_PATH=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib\pkgconfig"
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DPKG_CONFIG_EXECUTABLE="%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\pkgconf\pkgconf.exe" ^
-  -DPKG_CONFIG_USE_CMAKE_PREFIX_PATH=ON ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DENABLE_CUDA=OFF ^
-  -DENABLE_OPENCL=OFF ^
-  -DBUILD_EXAMPLES=OFF ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: depthai
-echo [+] Building depthai...
-if not exist depthai-core (
-    echo [+] Downloading...
-    git clone https://github.com/luxonis/depthai-core.git
-    cd depthai-core
-    :: depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
-    git checkout v2.32.0
-    git submodule update --init --recursive
-    cd ..
-)
-cd depthai-core
-:: v2 and its old Hunter sub-deps declare cmake_minimum_required < 3.5, which
-:: CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not propagate into
-:: Hunter's sub-builds. Use a pinned CMake 3.x just for depthai (Hunter reuses the
-:: same cmake binary for its dependency sub-builds).
-set "CMAKE3_VER=3.31.12"
-set "CMAKE3_NAME=cmake-%CMAKE3_VER%-windows-x86_64"
-set "CMAKE3_DIR=%SRC_DIR%\%CMAKE3_NAME%"
-set "CMAKE3=%CMAKE3_DIR%\bin\cmake.exe"
-if not exist "%CMAKE3_DIR%" (
-    echo [+] Downloading CMake %CMAKE3_VER% ...
-    curl -L -o "%SRC_DIR%\%CMAKE3_NAME%.zip" "https://github.com/Kitware/CMake/releases/download/v%CMAKE3_VER%/%CMAKE3_NAME%.zip" || exit /b !errorlevel!
-    "%SEVENZIP_EXE%" x "%SRC_DIR%\%CMAKE3_NAME%.zip" -o"%SRC_DIR%" -y || exit /b !errorlevel!
-)
-:: v2 is fully Hunter-managed (no vcpkg toolchain). depthaiDependencies.cmake
-:: unconditionally does find_package(OpenCV 4 QUIET CONFIG) (not gated by
-:: DEPTHAI_OPENCV_SUPPORT); if it finds the bundle's OpenCV, OpenCVModules does
-:: find_dependency(TIFF) which collides with Hunter's config-less FindTIFF. We don't
-:: need depthai's OpenCV at all (CameraDepthAI converts ImgFrame->cv::Mat itself), so
-:: hard-disable the lookup. DEPTHAI_ENABLE_CURL=OFF avoids Hunter's old zlib/curl.
-"%CMAKE3%" -S . -B build -GNinja ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DBUILD_SHARED_LIBS=ON ^
-  -DDEPTHAI_OPENCV_SUPPORT=OFF ^
-  -DCMAKE_DISABLE_FIND_PACKAGE_OpenCV=ON ^
-  -DDEPTHAI_ENABLE_CURL=OFF ^
-  -DDEPTHAI_BUILD_EXAMPLES=OFF ^
-  -DDEPTHAI_BUILD_TESTS=OFF || exit /b !errorlevel!
-"%CMAKE3%" --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: CCCoreLib
-echo [+] Building CCCoreLib...
-if not exist CCCoreLib (
-    echo [+] Downloading...
-    git clone https://github.com/CloudCompare/CCCoreLib.git
-    cd CCCoreLib
-    :: June 20, 2026
-    git checkout 4095bea6552096cb528c3b8b5cb9505df2aa6002
-    git submodule update --init --recursive
-    :: nanoflann is an internal dep (only used in src/Kriging.cpp, no public header),
-    :: but CCCoreLib links it PUBLIC, leaking nanoflann::nanoflann into the exported
-    :: interface and breaking find_package(CCCoreLib). Link it PRIVATE instead.
-    git apply "%~dp0patches\cccorelib_4095bea.patch"
-    cd ..
-)
-cd CCCoreLib
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DCCCORELIB_SHARED=ON ^
-  -DCCCORELIB_USE_CGAL=OFF ^
-  -DCCCORELIB_USE_TBB=ON ^
-  -DCCCORELIB_USE_QT_CONCURRENT=OFF || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
 :: 5. ZIP the folder
 echo [+] Creating final package with 7-Zip...
 :: Rip off pdb files
@@ -379,30 +205,13 @@ if !errorlevel! EQU 0 (
 :: Example building rtabmap afterwards
 goto :EndComment

-:: The vcpkg export folder should not be in the rtabmap source directory
-:: (otherwise we get some cmake errors about that)
 set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
-
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\bin;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs;%PATH%
-set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
-set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release

 cmake -B build -GNinja ^
  -DCMAKE_BUILD_TYPE=Release ^
-  -DBUILD_AS_BUNDLE=ON ^
-  -DWITH_PYTHON=ON ^
+  -DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON ^
  -DWITH_ZED=OFF ^
-  -DWITH_CERES=ON ^
-  -DWITH_ORBBEC_SDK=ON ^
-  -DWITH_FREENECT2=ON ^
-  -DWITH_K4W2=ON ^
-  -DWITH_K4A=ON ^
-  -DWITH_DEPTHAI=ON ^
-  -DWITH_REALSENSE2=ON ^
-  -DWITH_CCCORELIB=ON ^
-  -DWITH_PDAL=OFF ^
  -DVCPKG_MANIFEST_INSTALL=OFF ^
  -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
  -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^
@@ -34,8 +34,6 @@ echo Installed CUDA Toolkit: %CUDA_VER%
 :: --- CONFIGURATION ---
 set "VCPKG_ROOT=%~dp0vcpkg"
 set "EXPORT_DIR=%~dp0vcpkg_binaries"
-:: All deps downloaded/built from source (pytorch, torchvision, opencv, libfreenect2, ...) live here.
-set "SRC_DIR=%~dp0vcpkg_deps_from_source"
 set "TRIPLET=x64-windows-release"
 set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"

@@ -72,52 +70,11 @@ if not exist "%FINAL_EXPORT_PATH%" (
 	xcopy "%CUDA_PATH%\bin\x64\cudnn*.dll" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\" /Y
 )

-:: ZED: copy the main library + the zed-config.cmake so find_package(ZED) resolves
-:: it from the export (the config derives paths from ZED_SDK_ROOT_DIR/CMAKE_PREFIX_PATH).
-if "%ZED_SDK_ROOT_DIR%"=="" (
-    echo Error: ZED_SDK_ROOT_DIR environment variable is not set!
-    pause
-    exit /b 1
-)
-echo Copying ZED main library only...
-:: Only the core runtime goes into the bundle; the neural-depth/TensorRT DLLs are
-:: shipped separately (see the zed-neural-extra archive below).
-robocopy "%ZED_SDK_ROOT_DIR%\bin" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin" sl_zed64.dll zlibwapi.dll /XO
-robocopy "%ZED_SDK_ROOT_DIR%\lib" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib" /E /XO
-robocopy "%ZED_SDK_ROOT_DIR%\include" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include" /E /XO
-:: Install ZED's CMake config at the export prefix root so find_package(ZED 2) (config
-:: mode, via the vcpkg toolchain CMAKE_PREFIX_PATH) finds it.
-robocopy "%ZED_SDK_ROOT_DIR%" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%" zed-config.cmake zed-config-version.cmake /XO
-:: Robocopy exit codes under 8 mean successful copies/no changes.
-:: 8 or higher means there was a failure.
-if !errorlevel! GEQ 8 (
-    echo Error: Robocopy failed with exit code !errorlevel!
-    pause
-    exit /b !errorlevel!
-)
-:: Archive the remaining ZED runtime DLLs (neural-depth / TensorRT extras) as a
-:: separate optional download, kept out of the main bundle to keep it small. Built
-:: only once: skipped if the archive already exists. Staged with robocopy /XF
-:: (excludes by name; avoids 7z's "!" exclude switch that delayed expansion mangles).
-set "ZED_EXTRA_7Z=%EXPORT_DIR%\%TARGET_NAME%-zed-neural-extra.7z"
-set "ZED_EXTRA_DIR=%SRC_DIR%\zed-neural-extra"
-if not exist "%ZED_EXTRA_7Z%" (
-    echo [+] Creating ZED neural extra archive...
-    if exist "%ZED_EXTRA_DIR%" rd /s /q "%ZED_EXTRA_DIR%"
-    robocopy "%ZED_SDK_ROOT_DIR%\bin" "%ZED_EXTRA_DIR%" *.dll /XF sl_zed64.dll zlibwapi.dll >nul
-    "%SEVENZIP_EXE%" a -t7z -mx9 "%ZED_EXTRA_7Z%" "%ZED_EXTRA_DIR%\*" || exit /b !errorlevel!
-)
-
 :: pytorch deps
 %FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install numpy packaging "setuptools<82" pyyaml typing_extensions

 git config --global core.longpaths true

-:: All deps cloned/built below go into %SRC_DIR% (incl. libfreenect2 built by
-:: bundle_windows_deps.bat) to keep the repo root clean.
-if not exist "%SRC_DIR%" mkdir "%SRC_DIR%"
-cd /d "%SRC_DIR%"
-
 :: pytorch, build with local cuda libraries to avoid duplicating them when we install rtabmap
 echo [+] Building pytorch with cuda support...
 if not exist pytorch (
@@ -167,7 +124,6 @@ set TORCHVISION_LIBRARY=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib
 %FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install . -v --no-build-isolation || exit /b !errorlevel!
 cd ..

-
 :: opencv_cuda
 echo [+] Building opencv with cuda support...
 if not exist opencv (
@@ -182,7 +138,7 @@ if not exist opencv (
 if not exist opencv_contrib (
    echo [+] Downloading opencv_contrib...
 	git clone https://github.com/opencv/opencv_contrib.git || exit /b !errorlevel!
-    cd opencv_contrib
+    cd opencv
    :: 4.13.0 minimum required to be compatible with cuda 13
 	:: Dec 31, 2025
    git checkout 4.13.0
@@ -205,68 +161,19 @@ cmake -S . -B build -GNinja ^
  -DBUILD_PERF_TESTS=OFF ^
  -DOPENCV_ENABLE_NONFREE=ON ^
  -DBUILD_opencv_apps=OFF ^
-  -DBUILD_opencv_cudacodec=OFF ^
-  -DBUILD_opencv_python3=OFF ^
-  -DBUILD_opencv_python_bindings_generator=OFF ^
-  -DBUILD_opencv_python_tests=OFF ^
+  -DBUILD_opencv_python3=ON ^
+  -DPYTHON3_EXECUTABLE=%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe ^
+  -DPYTHON3_PACKAGES_PATH=bin/Lib/site-packages ^
  -DBUILD_opencv_java_bindings_generator=OFF ^
  -DWITH_CUDA=ON ^
  -DWITH_VTK=OFF ^
  -DWITH_TBB=ON || exit /b !errorlevel!
 cmake --build build --config Release --target install || exit /b !errorlevel!
+:: move cv2 package under tools/python3
+robocopy "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\Lib" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib" /E /MOVE /NFL /NDL /NJH /NC /NS /NP
 cd ..


-:: freenect2 with cuda support
-:: libfreenect2's CUDA processors include <helper_math.h>, which modern CUDA toolkits
-:: no longer ship (it moved to the NVIDIA/cuda-samples repo). Fetch it and point
-:: NVCUDASAMPLES_ROOT at it; libfreenect2 adds %NVCUDASAMPLES_ROOT%\common\inc to nvcc.
-set "CUDA_SAMPLES_DIR=%SRC_DIR%\cuda-samples"
-if not exist "%CUDA_SAMPLES_DIR%\common\inc\helper_math.h" (
-    mkdir "%CUDA_SAMPLES_DIR%\common\inc"
-    curl -L -o "%CUDA_SAMPLES_DIR%\common\inc\helper_math.h" "https://raw.githubusercontent.com/NVIDIA/cuda-samples/v12.5/Common/helper_math.h" || exit /b !errorlevel!
-)
-set "NVCUDASAMPLES_ROOT=%CUDA_SAMPLES_DIR%"
-cd libfreenect2
-cmake -S . -B build_cuda -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DPKG_CONFIG_EXECUTABLE="%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\pkgconf\pkgconf.exe" ^
-  -DPKG_CONFIG_USE_CMAKE_PREFIX_PATH=ON ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DENABLE_CUDA=ON ^
-  -DENABLE_OPENCL=ON ^
-  -DENABLE_OPENGL=ON ^
-  -DBUILD_EXAMPLES=OFF ^
-  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
-cmake --build build_cuda --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: CudaSift (CUDA SIFT/SURF GPU features, matlabbe fork; needs CUDA)
-echo [+] Building CudaSift...
-if not exist CudaSift (
-    echo [+] Downloading...
-    git clone https://github.com/matlabbe/CudaSift.git
-    cd CudaSift
-    git checkout f764e14ae59ee78ff5b282d38790301d80faadc3
-    cd ..
-)
-cd CudaSift
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF ^
-  -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DVERBOSE=OFF ^
-  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
 :: 5. ZIP the folder
 echo [+] Creating final package with 7-Zip...
 :: Rip off pdb files
@@ -288,9 +195,8 @@ if !errorlevel! EQU 0 (
 :: Example building rtabmap with opencv cuda and libtorch afterwards
 goto :EndComment

-:: The vcpkg export folder should not be in the rtabmap source directory
-:: (otherwise we get some cmake errors about that)
-set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
+:: Set path of unzipped deps
+set VCPKG_UNZIPPED_EXPORT_PATH=

 set TRIPLET=x64-windows-release
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\bin;%PATH%
@@ -300,10 +206,15 @@ set PATH=%CUDA_PATH%\bin\x64;%PATH%
 set PATH=%CUDA_PATH%\extras\CUPTI\lib64;%PATH%
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\torch\lib;%PATH%
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\numpy.libs;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin;%PATH%
-set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
-set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
-set ZED_SDK_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
+
+:: Other dependencies
+
+:: For ZED, modify zed-config.cmake and remove all dependencies
+set PATH=%PATH%;%ZED_SDK_ROOT_DIR%\bin
+
+:: For kinect 4 windows SDK v2, move kinect20.dll from system32 to KINECTSDK20_DIR\bin 
+:: For kinect 4 windows SDK v1, move kinect10.dll and KinectAudio10.dll to KINECTSDK20_DIR\bin
+set PATH=%PATH%;%KINECTSDK20_DIR%\bin

 cmake -B build_cuda -GNinja ^
  -DCMAKE_BUILD_TYPE=Release ^
@@ -311,16 +222,6 @@ cmake -B build_cuda -GNinja ^
  -DWITH_PYTHON=ON ^
  -DWITH_TORCH=ON ^
  -DWITH_ZED=ON ^
-  -DWITH_CUDASIFT=ON ^
-  -DWITH_CERES=ON ^
-  -DWITH_ORBBEC_SDK=ON ^
-  -DWITH_FREENECT2=ON ^
-  -DWITH_K4W2=ON ^
-  -DWITH_K4A=ON ^
-  -DWITH_DEPTHAI=ON ^
-  -DWITH_REALSENSE2=ON ^
-  -DWITH_CCCORELIB=ON ^
-  -DWITH_PDAL=OFF ^
  -DVCPKG_MANIFEST_INSTALL=OFF ^
  -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
  -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^
@@ -40,13 +40,7 @@ if(NOT Eigen3_FIND_VERSION)
 endif()

 macro(_eigen3_check_version)
-  # Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
-  # to a dedicated Eigen/Version header, so check the new location first.
-  if(EXISTS "${EIGEN3_INCLUDE_DIR}/Eigen/Version")
-    file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header)
-  else()
-    file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-  endif()
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)

  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
@@ -126,10 +126,8 @@ public:
 	double verticalFOV() const;   // in degrees
 	bool isFisheye() const {return D_.cols == 6;}

-	// Set initRectificationMaps=false to skip building the (potentially large)
-	// rectification maps when rectification won't be used (saves time and memory).
-	bool load(const std::string & filePath, bool initRectificationMaps = true);
-	bool load(const std::string & directory, const std::string & cameraName, bool initRectificationMaps = true);
+	bool load(const std::string & filePath);
+	bool load(const std::string & directory, const std::string & cameraName);
 	bool save(const std::string & directory) const;
 	std::vector<unsigned char> serialize() const;
 	unsigned int deserialize(const std::vector<unsigned char>& data);
@@ -344,7 +344,7 @@ public:
 	void setGPS(const GPS & gps) {gps_ = gps;}
 	const GPS & gps() const {return gps_;}

-	void setIMU(const IMU & imu);
+	void setIMU(const IMU & imu) {imu_ = imu; }
 	const IMU & imu() const {return imu_;}

 	void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}
@@ -94,9 +94,7 @@ public:
 	// backward compatibility
 	void setImageSize(const cv::Size & size) {left_.setImageSize(size); right_.setImageSize(size);}

-	// Set initRectificationMaps=false to skip building the (potentially large) left/right
-	// rectification maps when rectification won't be used (saves time and memory).
-	bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true, bool initRectificationMaps = true);
+	bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
 	bool save(const std::string & directory, bool ignoreStereoTransform = true) const;
 	bool saveStereoTransform(const std::string & directory) const;
 	std::vector<unsigned char> serialize() const;
@@ -76,28 +76,6 @@ public:
 	{
 		_hasConfigForEachFrame = value;
 	}
-	bool isConfigForEachFrame() const {return _hasConfigForEachFrame;}
-
-	// Enable multi-camera mode. Each image in the folder is expected to be the
-	// horizontal concatenation of N sub-camera images of a rig, sharing the same
-	// base name (timestamp or node id), e.g. "1780687370.031791.jpg" or "1.jpg".
-	// One calibration file per sub-camera must exist in the calibrationFolder
-	// passed to init(), named "<prefix>_<index>.yaml" with index starting at 0
-	// (e.g. "1_0.yaml", "1_1.yaml", ...). The number of cameras is auto-detected.
-	// Each sub-image width is taken from the corresponding model's calibrated image
-	// size; if a model has no size, a uniform split (stackedWidth / N) is assumed.
-	// If setConfigForEachFrame() is enabled, one calibration set is loaded per frame
-	// using each image's base name as prefix. Otherwise a single calibration set is
-	// loaded and reused for all frames, using the cameraName passed to init() as
-	// prefix (it may differ from any image name), falling back to the first image's
-	// base name when cameraName is empty.
-	// Note that it is not recommended to use setConfigForEachFrame() if images have
-	// to be rectified, a rectification matrix would need to be re-initilaized for
-	// each frame.
-	void setMultiCameraCalibration(bool enabled)
-	{
-		_multiCameraCalib = enabled;
-	}

 	void setScanPath(
 			const std::string & dir,
@@ -143,22 +121,6 @@ public:
 protected:
 	virtual SensorData captureImage(SensorCaptureInfo * info = 0);

-	// File name (with extension, no directory) of the image returned by the last
-	// captureImage() call. Used by subclasses (e.g. stereo) to key per-frame
-	// calibration loaded on demand. Empty if no image was read.
-	const std::string & lastImageFileName() const {return _lastImageFileName;}
-
-	// Calibration folder passed to init(), kept to load per-frame calibration on
-	// demand. Shared with subclasses (e.g. stereo) that load calibration themselves.
-	std::string _calibrationFolder;
-
-	// Multi-camera mode state, shared with subclasses (e.g. stereo) that layer their
-	// own multi-camera handling over the base reader. Such subclasses temporarily set
-	// _multiCameraCalib to false while delegating to base init()/captureImage() so the
-	// base returns the raw stacked image instead of doing its own split, then restore it.
-	bool _multiCameraCalib;
-	int _multiCameraCount; // number of sub-cameras detected in multi-camera mode
-
 private:
 	bool readPoses(
 		std::list<Transform> & outputPoses,
@@ -167,16 +129,6 @@ private:
 		int format,
 		double maxTimeDiff) const;

-	// Load the sub-camera models of a multi-camera rig from calibration files named
-	// "<baseName>_<index>.yaml" (index 0.._multiCameraCount-1) in _calibrationFolder.
-	// Returns an empty vector (and logs an error) if any model is missing or invalid.
-	std::vector<CameraModel> loadMultiCameraModels(const std::string & baseName) const;
-
-	// Load the single-camera model for one frame from a per-frame config file (RTAB-Map
-	// calibration or 3DScannerApp format). Returns an invalid model (and logs an error)
-	// on failure.
-	CameraModel loadConfigModel(const std::string & filePath);
-
 private:
 	std::string _path;
 	int _startAt;
@@ -192,7 +144,6 @@ private:
 	int _framesPublished;
 	UDirectory * _dir;
 	std::string _lastFileName;
-	std::string _lastImageFileName; // file name of the image returned by the last captureImage()

 	int _countScan;
 	UDirectory * _scanDir;
@@ -222,9 +173,7 @@ private:
 	std::list<cv::Mat> covariances_;
 	std::list<Transform> groundTruth_;
 	CameraModel _model;
-	std::list<std::string> _modelFileNames; // per-frame single-camera config file paths (config-for-each-frame)
-	bool _configLocalTransformWarned; // warn only once when a per-frame config has no local_transform
-	std::vector<CameraModel> _multiModels; // sub-camera models, shared by all frames (multi-camera mode); empty when loaded per-frame
+	std::list<CameraModel> _models;

 	UTimer _captureTimer;
 	double _captureDelay;
@@ -58,24 +58,6 @@ public:

 	void setRightGrayScale(bool enabled = true) {rightGrayScale_ = enabled;}

-	// Enable multi-camera stereo mode. Each left/right image in the folders is
-	// expected to be the horizontal concatenation of N sub-camera images of a
-	// stereo rig, all sharing the same base name (timestamp or node id), e.g.
-	// "1779318290.502227.jpg". Two calibration files per sub-camera must exist in
-	// the calibrationFolder passed to init(), named "<prefix>_<index>_left.yaml"
-	// and "<prefix>_<index>_right.yaml" with index starting at 0. The number of
-	// cameras is auto-detected. Sub-images are split using a uniform width
-	// (stackedWidth / N).
-	// If setConfigForEachFrame() is enabled, one calibration set is loaded per frame
-	// using each image's base name as prefix. Otherwise a single calibration set is
-	// loaded and reused for all frames, using the cameraName passed to init() as
-	// prefix (it may differ from any image name), falling back to the first image's
-	// base name when cameraName is empty.
-	// Note that it is not recommended to use setConfigForEachFrame() if images have
-	// to be rectified, a rectification matrix would need to be re-initilaized for each
-	// frame.
-	void setMultiCameraCalibration(bool enabled) {CameraImages::setMultiCameraCalibration(enabled);}
-
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
@@ -86,17 +68,10 @@ public:
 protected:
 	virtual SensorData captureImage(SensorCaptureInfo * info = 0);

-private:
-	// Load the sub-camera stereo models of a frame from calibration files named
-	// "<baseName>_<index>_{left,right}.yaml" (index 0.._multiCameraCount-1) in
-	// _calibrationFolder. Returns an empty vector (and logs an error) on failure.
-	std::vector<StereoCameraModel> loadStereoCameraModels(const std::string & baseName, bool rectify) const;
-
 private:
 	CameraImages * camera2_;
 	StereoCameraModel stereoModel_;
 	bool rightGrayScale_;
-	std::vector<StereoCameraModel> multiStereoModels_; // sub-camera stereo models shared by all frames (multi-camera mode); empty when loaded per-frame
 };


@@ -49,8 +49,8 @@ public:
 public:
 	CameraStereoZed(
 			int deviceId,
-			int resolution = -1, // -1 = AUTO, 0=HD4K 1=QHDPLUS 2=HD2K 3=HD1536 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA 9=XVGA 10=TXVGA
-			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=ULTRA, 4=NEURAL_LIGHT, 5=NEURAL, 6=NEURAL_ULTRA
+			int resolution = -1, // -1 = AUTO, 0=HD4K 1=HD2K 2=HD1080 3=HD1200 4=HD720 5=SVGA 6=VGA
+			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
 			int sensingMode = 0,// 0=STANDARD, 1=FILL
 			int confidenceThr = 100,
 			bool computeOdometry = false,
@@ -61,7 +61,7 @@ public:
 			int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
 	CameraStereoZed(
 			const std::string & svoFilePath,
-			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=ULTRA, 4=NEURAL_LIGHT, 5=NEURAL, 6=NEURAL_ULTRA
+			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=NEURAL
 			int sensingMode = 0,// 0=STANDARD, 1=FILL
 			int confidenceThr = 100,
 			bool computeOdometry = false,
@@ -81,15 +81,6 @@ public:
 	void postInterIMUPublic(const IMU & imu, double stamp);
 	void setRightGrayScale(bool enabled = true);

-	/**
-	 * If the given ZED depth mode (quality: same encoding as the constructor) is a NEURAL mode
-	 * whose AI model isn't yet downloaded/optimized for the GPU, returns a human-readable warning
-	 * that the first start will be slower (the ZED SDK downloads/optimizes the model during
-	 * init()). Returns an empty string when the model is ready, the mode isn't neural, or the
-	 * SDK/build doesn't support the check.
-	 */
-	static std::string getNeuralModelWarning(int quality);
-
 protected:
 	virtual SensorData captureImage(SensorCaptureInfo * info = 0);

@@ -29,25 +29,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 // Should be first on windows to avoid "WinSock.h has already been included" error
 #include <pcl/io/vlp_grabber.h>
 #include <boost/version.hpp>
-#include <boost/asio.hpp>

 #include <rtabmap/core/Lidar.h>
 #include <rtabmap/utilite/USemaphore.h>

-#include <thread>
-#include <atomic>
-
-// On Apple, closing pcl::HDLGrabber's UDP socket while its read thread is blocked
-// in receive_from returns EBADF, which pcl::HDLGrabber::readPacketsFromSocket()
-// rethrows uncaught in its own thread, aborting the process on shutdown. There we
-// run our own single-threaded UDP receive loop and own the socket lifecycle.
-// Other platforms use the base pcl::VLPGrabber path (which also avoids needing
-// boost::asio::io_context, absent from the Boost 1.65 on e.g. Ubuntu Bionic).
-// Comment this out to force the base path everywhere (e.g. A/B testing on macOS).
-#if defined(__APPLE__)
-#define RTABMAP_VLP16_USE_CUSTOM_SOCKET
-#endif
-
 namespace rtabmap {

 struct PointXYZIT {
@@ -83,28 +68,9 @@ public:

 	void setOrganized(bool enable);

-#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
-	// Overridden only on Apple: in network mode we run our own UDP receive loop
-	// instead of pcl::HDLGrabber's, because on macOS/BSD closing the grabber's
-	// socket while its read thread is blocked in receive_from returns EBADF, a
-	// code that pcl::HDLGrabber::readPacketsFromSocket() rethrows uncaught (in
-	// its own thread), aborting the process on shutdown. Owning the socket lets
-	// us tear it down with the non-throwing receive_from overload. Like
-	// pcl::HDLGrabber, we bind to the given LOCAL interface address (to scope
-	// reception on a multi-homed host) and fall back to all interfaces (0.0.0.0)
-	// when it is unspecified or not a local address. In PCAP mode we delegate to
-	// the base grabber. On other platforms we inherit pcl::VLPGrabber directly.
-	virtual void start() override;
-	virtual void stop() override;
-	virtual bool isRunning() const override;
-#endif
-
 private:
 	void buildTimings(bool dualMode);
    virtual void toPointClouds (HDLDataPacket *dataPacket) override;
-#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
-    void readPackets();
-#endif

 protected:
    virtual SensorData captureData(SensorCaptureInfo * info = 0) override;
@@ -122,18 +88,6 @@ private:
    std::vector<std::vector<PointXYZIT> > accumulatedScans_;
    USemaphore scanReady_;
    UMutex lastScanMutex_;
-
-    // Own UDP receive path (network mode only).
-    bool networkMode_;
-    boost::asio::ip::address ipAddress_;
-    std::uint16_t port_;
-    bool receivedScan_;         // set once the first scan is received
-#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
-    boost::asio::io_context ioContext_;
-    boost::asio::ip::udp::socket * socket_;
-    std::thread * readThread_;
-    std::atomic<bool> terminate_;
-#endif
 };

 } /* namespace rtabmap */
@@ -392,6 +392,7 @@ IF(depthai_FOUND)
 	SET(PUBLIC_LIBRARIES
 		${PUBLIC_LIBRARIES}
 		depthai::core
+		depthai::opencv
 	)
 ENDIF(depthai_FOUND)

@@ -212,7 +212,7 @@ void CameraModel::setImageSize(const cv::Size & size)
 	}
 }

-bool CameraModel::load(const std::string & filePath, bool initRectificationMaps)
+bool CameraModel::load(const std::string & filePath)
 {
 	K_ = cv::Mat();
 	D_ = cv::Mat();
@@ -377,7 +377,7 @@ bool CameraModel::load(const std::string & filePath, bool initRectificationMaps)

 			fs.release();

-			if(initRectificationMaps && isValidForRectification())
+			if(isValidForRectification())
 			{
 				initRectificationMap();
 			}
@@ -396,9 +396,9 @@ bool CameraModel::load(const std::string & filePath, bool initRectificationMaps)
 	return false;
 }

-bool CameraModel::load(const std::string & directory, const std::string & cameraName, bool initRectificationMaps)
+bool CameraModel::load(const std::string & directory, const std::string & cameraName)
 {
-	return load(directory+"/"+cameraName+".yaml", initRectificationMaps);
+	return load(directory+"/"+cameraName+".yaml");
 }

 bool CameraModel::save(const std::string & directory) const
@@ -1247,12 +1247,7 @@ void readINIImpl(const CSimpleIniA & ini, const std::string & configFilePath, Pa
 				{
 					if(RTABMAP_VERSION_COMPARE(<, std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
 					{
-						// Detect the user's private config - matches both the legacy
-						// ~/.rtabmap/rtabmap.ini and the Windows %LOCALAPPDATA%/rtabmap/rtabmap.ini
-						// (".rtabmap/rtabmap.ini" also contains "rtabmap/rtabmap.ini"): downgrade-on-save is fine there.
-						// Accept both forward and backward slashes (native Windows paths).
-						if(configFilePath.find("rtabmap/rtabmap.ini") != std::string::npos ||
-						   configFilePath.find("rtabmap\\rtabmap.ini") != std::string::npos)
+						if(configFilePath.find(".rtabmap") != std::string::npos)
 						{
 							UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
 								   "current RTAB-Map version used (\"%s\"). The config file will be downgraded "
@@ -114,6 +114,7 @@ SensorCaptureThread::SensorCaptureThread(
 				_camera(camera),
 				_odomSensor(odomSensor),
 				_lidar(lidar),
+				_extrinsicsOdomToCamera(extrinsics * CameraModel::opticalRotation()),
 				_odomAsGt(false),
 				_poseTimeOffset(poseTimeOffset),
 				_poseScaleFactor(poseScaleFactor),
@@ -152,14 +153,10 @@ SensorCaptureThread::SensorCaptureThread(
 	{
 		if(_camera)
 		{
-			if(_odomSensor == _camera && extrinsics.isNull())
+			if(_odomSensor == _camera && _extrinsicsOdomToCamera.isNull())
 			{
 				_extrinsicsOdomToCamera.setIdentity();
 			}
-			else
-			{
-				_extrinsicsOdomToCamera = extrinsics * CameraModel::opticalRotation();
-			}
 			UASSERT(!_extrinsicsOdomToCamera.isNull());
 			UDEBUG("_extrinsicsOdomToCamera=%s", _extrinsicsOdomToCamera.prettyPrint().c_str());
 		}
@@ -495,26 +492,20 @@ void SensorCaptureThread::mainLoop()
 					}
 				}

-				// Adjust local transform of the camera(s) based on the pose frame. The correction
-				// and odom->camera extrinsics are frame-level, so apply the same prefix to each
-				// camera while keeping its own local transform (multi-camera supported).
+				// Adjust local transform of the camera based on the pose frame
 				if(!data.cameraModels().empty())
 				{
-					std::vector<CameraModel> models = data.cameraModels();
-					for(size_t i=0; i<models.size(); ++i)
-					{
-						models[i].setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera*models[i].localTransform());
-					}
-					data.setCameraModels(models);
+					UASSERT(data.cameraModels().size()==1);
+					CameraModel model = data.cameraModels()[0];
+					model.setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera);
+					data.setCameraModel(model);
 				}
 				else if(!data.stereoCameraModels().empty())
 				{
-					std::vector<StereoCameraModel> models = data.stereoCameraModels();
-					for(size_t i=0; i<models.size(); ++i)
-					{
-						models[i].setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera*models[i].localTransform());
-					}
-					data.setStereoCameraModels(models);
+					UASSERT(data.stereoCameraModels().size()==1);
+					StereoCameraModel model = data.stereoCameraModels()[0];
+					model.setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera);
+					data.setStereoCameraModel(model);
 				}
 			}

@@ -539,21 +530,15 @@ void SensorCaptureThread::mainLoop()
 		info.odomPose.setNull();
 	}

-	if(this->isKilled())
-	{
-		// A kill was requested (e.g. while we were blocked capturing this frame): don't
-		// publish anything so we never deliver events to handlers that are being torn down.
-	}
-	else if(!data.imageCompressed().empty() || !data.imageRaw().empty() || !data.laserScanRaw().empty() || (dynamic_cast<DBReader*>(_camera) != 0 && data.id()>0)) // intermediate nodes could not have image set
+	if(!data.imageCompressed().empty() || !data.imageRaw().empty() || !data.laserScanRaw().empty() || (dynamic_cast<DBReader*>(_camera) != 0 && data.id()>0)) // intermediate nodes could not have image set
 	{
 		postUpdate(&data, &info);
 		info.cameraName = _lidar?_lidar->getSerial():_camera->getSerial();
 		info.timeTotal = totalTime.ticks();
 		this->post(new SensorEvent(data, info));
 	}
-	else
+	else if(!this->isKilled())
 	{
-		// Not killed but no data: end of stream. Signal consumers once, then stop.
 		UWARN("no more data...");
 		this->kill();
 		this->post(new SensorEvent());
@@ -952,22 +952,6 @@ void SensorData::setFeatures(const std::vector<cv::KeyPoint> & keypoints, const
 	_descriptors = descriptors;
 }

-void SensorData::setIMU(const IMU & imu)
-{
-	UASSERT(
-		uIsFinite(imu.orientation()[0]) && 
-		uIsFinite(imu.orientation()[1]) && 
-		uIsFinite(imu.orientation()[2]) && 
-		uIsFinite(imu.orientation()[3]) &&
-		uIsFinite(imu.angularVelocity()[0]) && 
-		uIsFinite(imu.angularVelocity()[1]) && 
-		uIsFinite(imu.angularVelocity()[2]) && 
-		uIsFinite(imu.linearAcceleration()[0]) &&
-		uIsFinite(imu.linearAcceleration()[1]) &&
-		uIsFinite(imu.linearAcceleration()[2]));
-	imu_ = imu;
-}
-
 unsigned long SensorData::getMemoryUsed() const // Return memory usage in Bytes
 {
 	return sizeof(SensorData) +
@@ -220,11 +220,11 @@ void StereoCameraModel::updateStereoRectification()
 	right_ = CameraModel(right_.name(), right_.imageSize(), right_.K_raw(), right_.D_raw(), R2, P2, right_.localTransform());
 }

-bool StereoCameraModel::load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform, bool initRectificationMaps)
+bool StereoCameraModel::load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform)
 {
 	name_ = cameraName;
-	bool leftLoaded = left_.load(directory, cameraName+"_"+getLeftSuffix(), initRectificationMaps);
-	bool rightLoaded = right_.load(directory, cameraName+"_"+getRightSuffix(), initRectificationMaps);
+	bool leftLoaded = left_.load(directory, cameraName+"_"+getLeftSuffix());
+	bool rightLoaded = right_.load(directory, cameraName+"_"+getRightSuffix());
 	if(leftLoaded && rightLoaded)
 	{
 		if(ignoreStereoTransform)
@@ -729,21 +729,6 @@ std::string CameraDepthAI::getSerial() const
 	return "";
 }

-#ifdef RTABMAP_DEPTHAI
-namespace {
-// Convert the depthai depth ImgFrame to cv::Mat (similar to dai::ImgFrame::getCvFrame())
-cv::Mat depthImgFrameToCvMat(const std::shared_ptr<dai::ImgFrame> & frame)
-{
-	if(frame->getType() != dai::ImgFrame::Type::RAW16)
-	{
-		UERROR("Expected RAW16 depth ImgFrame but got type %d", (int)frame->getType());
-		return cv::Mat();
-	}
-	return cv::Mat((int)frame->getHeight(), (int)frame->getWidth(), CV_16UC1, frame->getData().data()).clone();
-}
-}
-#endif
-
 SensorData CameraDepthAI::captureImage(SensorCaptureInfo * info)
 {
 	SensorData data;
@@ -755,7 +740,7 @@ SensorData CameraDepthAI::captureImage(SensorCaptureInfo * info)

 	double stamp = std::chrono::duration<double>(depthOrRight->getTimestampDevice(dai::CameraExposureOffset::MIDDLE).time_since_epoch()).count();
 	if(outputMode_)
-		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_ANYCOLOR), depthImgFrameToCvMat(depthOrRight), stereoModel_.left(), this->getNextSeqID(), stamp);
+		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_ANYCOLOR), depthOrRight->getCvFrame(), stereoModel_.left(), this->getNextSeqID(), stamp);
 	else
 		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_GRAYSCALE), cv::imdecode(depthOrRight->getData(), cv::IMREAD_GRAYSCALE), stereoModel_, this->getNextSeqID(), stamp);

@@ -41,8 +41,6 @@ namespace rtabmap
 {

 CameraImages::CameraImages() :
-		_multiCameraCalib(false),
-		_multiCameraCount(0),
 		_startAt(0),
 		_maxFrames(0),
 		_refreshDir(false),
@@ -73,8 +71,6 @@ CameraImages::CameraImages(const std::string & path,
 					 float imageRate,
 					 const Transform & localTransform) :
 	Camera(imageRate, localTransform),
-	_multiCameraCalib(false),
-	_multiCameraCount(0),
 	_path(path),
 	_startAt(0),
 	_maxFrames(0),
@@ -115,22 +111,14 @@ CameraImages::~CameraImages()
 bool CameraImages::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
 	_lastFileName.clear();
-	_lastImageFileName.clear();
 	_lastScanFileName.clear();
 	_count = 0;
 	_countScan = 0;
 	_captureDelay = 0.0;
 	_framesPublished=0;
 	_model = cameraModel();
-	_modelFileNames.clear();
-	_configLocalTransformWarned = false;
-	_multiModels.clear();
-	_calibrationFolder.clear();
-	_multiCameraCount = 0;
+	_models.clear();
 	covariances_.clear();
-	_stamps.clear();
-	odometry_.clear();
-	groundTruth_.clear();

 	UDEBUG("");
 	if(_dir)
@@ -211,117 +199,107 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
 		return false;
 	}

-	bool success = _dir|| _scanDir;
-
 	if(_dir)
 	{
-		if(_multiCameraCalib)
+		// look for calibration files
+		UINFO("calibration folder=%s name=%s", calibrationFolder.c_str(), cameraName.c_str());
+		if(!calibrationFolder.empty() && !cameraName.empty())
 		{
-			// Multi-camera mode: each image is a horizontal stack of N sub-camera
-			// images. Load one CameraModel per sub-camera from calibration files
-			// named "<prefix>_<index>.yaml" (index starting at 0). In config-for-each-frame
-			// mode the prefix is each image's base name (one calibration set per frame);
-			// otherwise a single calibration set is shared by all frames, using cameraName
-			// as the prefix when provided (it may differ from any image name), falling back
-			// to the first image's base name.
-			if(calibrationFolder.empty())
+			if(!_model.load(calibrationFolder, cameraName))
 			{
-				UERROR("Multi-camera calibration is enabled but no calibration folder was provided.");
-				return false;
-			}
-			const std::list<std::string> & imageFiles = _dir->getFileNames();
-			std::string firstBase = imageFiles.front().substr(0, imageFiles.front().find_last_of('.'));
-
-			// In config-for-each-frame mode the prefix is each image's base name. Otherwise
-			// the shared prefix is cameraName when provided. cameraName may point to a specific
-			// sub-camera calibration "<rig>_<index>" (e.g. when a single calibration file is
-			// selected); in that case strip the trailing "_<index>" to recover the rig prefix
-			// shared by all sub-cameras. Fall back to the first image's base name if empty.
-			std::string sharedBase = cameraName;
-			if(!sharedBase.empty() && !UFile::exists(calibrationFolder + "/" + sharedBase + "_0.yaml"))
-			{
-				std::size_t us = sharedBase.find_last_of('_');
-				if(us != std::string::npos && us+1 < sharedBase.size() &&
-					sharedBase.find_first_not_of("0123456789", us+1) == std::string::npos &&
-					UFile::exists(calibrationFolder + "/" + sharedBase.substr(0, us) + "_0.yaml"))
-				{
-					sharedBase = sharedBase.substr(0, us);
-				}
-			}
-			if(sharedBase.empty())
-			{
-				sharedBase = firstBase;
-			}
-
-			// auto-detect the number of cameras
-			int numCameras = 0;
-			std::string detectBase = _hasConfigForEachFrame ? firstBase : sharedBase;
-			while(UFile::exists(calibrationFolder + "/" + detectBase + "_" + uNumber2Str(numCameras) + ".yaml"))
-			{
-				++numCameras;
-			}
-
-			if(numCameras == 0)
-			{
-				UERROR("Multi-camera calibration is enabled but no calibration file matching "
-						"\"%s/%s_<index>.yaml\" was found.",
-						calibrationFolder.c_str(), detectBase.c_str());
-				return false;
-			}
-
-			UINFO("Multi-camera mode: %d sub-cameras detected from \"%s\" (%s).", numCameras, calibrationFolder.c_str(),
-					_hasConfigForEachFrame?"one calibration per frame, loaded on demand":
-							uFormat("calibration \"%s_<index>\" reused for all frames", sharedBase.c_str()).c_str());
-			_calibrationFolder = calibrationFolder;
-			_multiCameraCount = numCameras;
-			if(_hasConfigForEachFrame)
-			{
-				// Validate the first frame now; the per-frame sub-camera models are loaded
-				// on demand in captureImage() (keyed by each image's base name) so we don't
-				// keep every frame's models - and their rectification maps - in memory.
-				if(loadMultiCameraModels(firstBase).empty())
-				{
-					return false;
-				}
+				UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
+						cameraName.c_str(), calibrationFolder.c_str());
 			}
 			else
 			{
-				// A single calibration set is shared by all frames: load it once.
-				std::vector<CameraModel> models = loadMultiCameraModels(sharedBase);
-				if(models.empty())
+				UINFO("Camera parameters: fx=%f fy=%f cx=%f cy=%f",
+						_model.fx(),
+						_model.fy(),
+						_model.cx(),
+						_model.cy());
+
+				cv::FileStorage fs(calibrationFolder+"/"+cameraName+".yaml", 0);
+				cv::FileNode poseNode = fs["local_transform"];
+				if(!poseNode.isNone())
 				{
-					return false;
+					UWARN("Using local transform from calibration file (%s) instead of the parameter one (%s).",
+							_model.localTransform().prettyPrint().c_str(),
+							this->getLocalTransform().prettyPrint().c_str());
+					this->setLocalTransform(_model.localTransform());
 				}
-				_multiModels = models;
 			}
 		}
-		else if(_hasConfigForEachFrame)
+		_model.setName(cameraName);
+
+		_model.setLocalTransform(this->getLocalTransform());
+		if(_rectifyImages && !_model.isValidForRectification())
+		{
+			UERROR("Parameter \"rectifyImages\" is set, but no camera model is loaded or valid.");
+			return false;
+		}
+	}
+
+	bool success = _dir|| _scanDir;
+	_stamps.clear();
+	odometry_.clear();
+	groundTruth_.clear();
+	if(success)
+	{
+		if(_dir && _hasConfigForEachFrame)
 		{
-			// Per-frame calibration: one config file per image, taken from the
-			// calibration folder (same convention as the single/multi-camera cases).
-			// If the config files are in the same folder than the images, just set the
-			// calibration folder to the images folder.
 #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && CV_MAJOR_VERSION < 2)
-			UDirectory dirJson(calibrationFolder, "yaml xml");
+			UDirectory dirJson(_path, "yaml xml");
 #else
-			UDirectory dirJson(calibrationFolder, "yaml xml json");
+			UDirectory dirJson(_path, "yaml xml json");
 #endif
 			if(dirJson.getFileNames().size() == _dir->getFileNames().size())
 			{
-				// The per-frame models are loaded on demand in captureImage() (see
-				// loadConfigModel) so we don't keep every frame's model - and its
-				// rectification map - in memory. Only the stamps and poses of the
-				// 3DScannerApp format are read eagerly here (needed for synchronization).
+				bool modelsWarned = false;
+				bool localTWarned = false;
 				for(std::list<std::string>::const_iterator iter=dirJson.getFileNames().begin(); iter!=dirJson.getFileNames().end() && success; ++iter)
 				{
-					std::string filePath = calibrationFolder+"/"+*iter;
+					std::string filePath = _path+"/"+*iter;
 					cv::FileStorage fs(filePath, 0);
 					cv::FileNode poseNode = fs["cameraPoseARFrame"]; // Check if it is 3DScannerApp(iOS) format
-					if(!poseNode.isNone())
+					if(poseNode.isNone())
+					{
+						cv::FileNode n = fs["local_transform"];
+						bool hasLocalTransform = !n.isNone();
+
+						fs.release();
+						if(_model.isValidForProjection() && !modelsWarned)
+						{
+							UWARN("Camera model loaded for each frame is overridden by "
+									"general calibration file provided. Remove general calibration "
+									"file to use camera model of each frame. This warning will "
+									"be shown only one time.");
+							modelsWarned = true;
+						}
+						else
+						{
+							CameraModel model;
+							model.load(filePath);
+
+							if(!hasLocalTransform)
+							{
+								if(!localTWarned)
+								{
+									UWARN("Loaded calibration file doesn't have local_transform field, "
+											"the global local_transform parameter is used by default (%s).",
+											this->getLocalTransform().prettyPrint().c_str());
+									localTWarned = true;
+								}
+								model.setLocalTransform(this->getLocalTransform());
+							}
+
+							_models.push_back(model);
+						}
+					}
+					else
 					{
 						cv::FileNode timeNode = fs["time"];
 						cv::FileNode intrinsicsNode = fs["intrinsics"];
-						if(poseNode.size() != 16)
+						if(poseNode.isNone() || poseNode.size() != 16)
 						{
 							UERROR("Failed reading \"cameraPoseARFrame\" parameter, it should have 16 values (file=%s)", filePath.c_str());
 							success = false;
@@ -342,6 +320,23 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
 						else
 						{
 							_stamps.push_back((double)timeNode);
+							if(_model.isValidForProjection() && !modelsWarned)
+							{
+								UWARN("Camera model loaded for each frame is overridden by "
+										"general calibration file provided. Remove general calibration "
+										"file to use camera model of each frame. This warning will "
+										"be shown only one time.");
+								modelsWarned = true;
+							}
+							else
+							{
+								_models.push_back(CameraModel(
+										(double)intrinsicsNode[0], //fx
+										(double)intrinsicsNode[4], //fy
+										(double)intrinsicsNode[2], //cx
+										(double)intrinsicsNode[5], //cy
+										CameraModel::opticalRotation()));
+							}
 							// we need to rotate from opengl world to rtabmap world
 							Transform pose(
 									(float)poseNode[0], (float)poseNode[1], (float)poseNode[2], (float)poseNode[3],
@@ -351,18 +346,12 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
 							odometry_.push_back(pose);
 						}
 					}
-					_modelFileNames.push_back(filePath);
-				}
-				// Validate the first frame's calibration now to fail early.
-				if(success && !_modelFileNames.empty() && !loadConfigModel(_modelFileNames.front()).isValidForProjection())
-				{
-					success = false;
 				}
 				if(!success)
 				{
 					odometry_.clear();
 					_stamps.clear();
-					_modelFileNames.clear();
+					_models.clear();
 				}
 			}
 			else
@@ -376,60 +365,12 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
 						"of images (%d) in this directory \"%s\".%s",
 						(int)dirJson.getFileNames().size(),
 						(int)_dir->getFileNames().size(),
-						calibrationFolder.c_str(),
+						_path.c_str(),
 						opencv32warn.c_str());
 				success = false;
 			}
 		}
-		else
-		{
-			// Config-for-each-frame is disabled: load a single general calibration
-			// model (the per-frame branch above handles the config-for-each-frame case).
-			// look for calibration files
-			UINFO("calibration folder=%s name=%s", calibrationFolder.c_str(), cameraName.c_str());
-			if(!calibrationFolder.empty() && !cameraName.empty())
-			{
-				if(!_model.load(calibrationFolder, cameraName, _rectifyImages))
-				{
-					UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
-							cameraName.c_str(), calibrationFolder.c_str());
-				}
-				else
-				{
-					UINFO("Camera parameters: fx=%f fy=%f cx=%f cy=%f",
-							_model.fx(),
-							_model.fy(),
-							_model.cx(),
-							_model.cy());

-					cv::FileStorage fs(calibrationFolder+"/"+cameraName+".yaml", 0);
-					cv::FileNode poseNode = fs["local_transform"];
-					if(!poseNode.isNone())
-					{
-						UWARN("Using local transform from calibration file (%s) instead of the parameter one (%s).",
-								_model.localTransform().prettyPrint().c_str(),
-								this->getLocalTransform().prettyPrint().c_str());
-						this->setLocalTransform(_model.localTransform());
-					}
-				}
-
-				// Only validate rectification when a general calibration was requested.
-				// Without it (e.g. images that are already rectified) the single model is
-				// expected to be empty and must not fail init here.
-				if(_rectifyImages && !_model.isValidForRectification())
-				{
-					UERROR("Parameter \"rectifyImages\" is set, but no camera model is loaded or valid.");
-					return false;
-				}
-			}
-			_model.setName(cameraName);
-
-			_model.setLocalTransform(this->getLocalTransform());
-		}
-	}
-
-	if(success)
-	{
 		if(_stamps.empty())
 		{
 			if(_filenamesAreTimestamps)
@@ -712,97 +653,10 @@ bool CameraImages::readPoses(

 bool CameraImages::isCalibrated() const
 {
-	return (_dir && (_model.isValidForProjection() ||
-			_modelFileNames.size() || // per-frame single-camera models loaded on demand (validated in init)
-			(!_multiModels.empty() && _multiModels.front().isValidForProjection()) ||
-			(_multiCameraCalib && _hasConfigForEachFrame && _multiCameraCount > 0))) || // per-frame multi-camera models loaded on demand
+	return (_dir && (_model.isValidForProjection() || (_models.size() && _models.front().isValidForProjection()))) ||
 			_scanDir;
 }

-std::vector<CameraModel> CameraImages::loadMultiCameraModels(const std::string & baseName) const
-{
-	std::vector<CameraModel> models(_multiCameraCount);
-	for(int i=0; i<_multiCameraCount; ++i)
-	{
-		std::string name = baseName + "_" + uNumber2Str(i);
-		if(!models[i].load(_calibrationFolder, name, _rectifyImages) || !models[i].isValidForProjection())
-		{
-			UERROR("Failed to load a valid calibration \"%s/%s.yaml\" for multi-camera frame base \"%s\".",
-					_calibrationFolder.c_str(), name.c_str(), baseName.c_str());
-			return std::vector<CameraModel>();
-		}
-		if(models[i].localTransform().isNull())
-		{
-			// In multi-camera mode the rig extrinsics are required: each
-			// sub-camera calibration must provide a "local_transform".
-			UERROR("Calibration \"%s/%s.yaml\" has no \"local_transform\"; it is "
-					"required in multi-camera mode (rig extrinsics).",
-					_calibrationFolder.c_str(), name.c_str());
-			return std::vector<CameraModel>();
-		}
-		if(_rectifyImages && !models[i].isValidForRectification())
-		{
-			UERROR("Parameter \"rectifyImages\" is set, but calibration \"%s/%s.yaml\" is not valid for rectification.",
-					_calibrationFolder.c_str(), name.c_str());
-			return std::vector<CameraModel>();
-		}
-	}
-	return models;
-}
-
-CameraModel CameraImages::loadConfigModel(const std::string & filePath)
-{
-	cv::FileStorage fs(filePath, 0);
-	cv::FileNode poseNode = fs["cameraPoseARFrame"]; // Check if it is 3DScannerApp(iOS) format
-	CameraModel model;
-	if(poseNode.isNone())
-	{
-		// RTAB-Map calibration format
-		bool hasLocalTransform = !fs["local_transform"].isNone();
-		fs.release();
-		model.load(filePath, _rectifyImages);
-		if(!hasLocalTransform)
-		{
-			if(!_configLocalTransformWarned)
-			{
-				UWARN("Loaded calibration file doesn't have local_transform field, "
-						"the global local_transform parameter is used by default (%s).",
-						this->getLocalTransform().prettyPrint().c_str());
-				_configLocalTransformWarned = true;
-			}
-			model.setLocalTransform(this->getLocalTransform());
-		}
-	}
-	else
-	{
-		// 3DScannerApp(iOS) format
-		cv::FileNode intrinsicsNode = fs["intrinsics"];
-		if(intrinsicsNode.isNone() || intrinsicsNode.size()!=9)
-		{
-			UERROR("Failed reading \"intrinsics\" parameter (file=%s)", filePath.c_str());
-			return CameraModel();
-		}
-		model = CameraModel(
-				(double)intrinsicsNode[0], //fx
-				(double)intrinsicsNode[4], //fy
-				(double)intrinsicsNode[2], //cx
-				(double)intrinsicsNode[5], //cy
-				CameraModel::opticalRotation());
-	}
-	if(!model.isValidForProjection())
-	{
-		UERROR("Camera model loaded from \"%s\" is not valid for projection.", filePath.c_str());
-		return CameraModel();
-	}
-	if(_rectifyImages && !model.isValidForRectification())
-	{
-		UERROR("Parameter \"rectifyImages\" is set, but camera model loaded from \"%s\" is not valid for rectification.",
-				filePath.c_str());
-		return CameraModel();
-	}
-	return model;
-}
-
 std::string CameraImages::getSerial() const
 {
 	return _model.name();
@@ -874,13 +728,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 	cv::Mat covariance;
 	Transform groundTruthPose;
 	cv::Mat depthFromScan;
-	std::vector<CameraModel> models; // one entry per camera (single entry in single-camera mode)
-	if(!_multiCameraCalib)
-	{
-		// Single-camera mode keeps exactly one model in the vector; in multi-camera
-		// mode the per-frame vector is taken from _multiModels below.
-		models.push_back(_model);
-	}
+	CameraModel model = _model;
 	UDEBUG("");
 	if(_dir || _scanDir)
 	{
@@ -936,8 +784,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 			{
 				UERROR("groundTruth cannot be used when startAt < 0");
 			}
-			if(_modelFileNames.size() || !_multiModels.empty() ||
-				(_multiCameraCalib && _hasConfigForEachFrame))
+			if(_models.size() && !model.isValidForProjection())
 			{
 				UERROR("models cannot be used when startAt < 0");
 			}
@@ -979,24 +826,12 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 					groundTruthPose = groundTruth_.front();
 					groundTruth_.pop_front();
 				}
-				if(_modelFileNames.size())
+				if(_models.size() && !model.isValidForProjection())
 				{
-					UASSERT_MSG(stampsSize==0 || stampsSize == _modelFileNames.size(),
-						uFormat("Stamps=%ld models=%ld", _stamps.size(), _modelFileNames.size()).c_str());
-					// per-frame calibration loaded on demand (not kept in memory)
-					models.back() = loadConfigModel(_modelFileNames.front());
-					_modelFileNames.pop_front();
-				}
-				if(_multiCameraCalib && _hasConfigForEachFrame)
-				{
-					// Per-frame calibration loaded on demand (not kept in memory),
-					// keyed by the current image's base name.
-					models = loadMultiCameraModels(imageFileName.substr(0, imageFileName.find_last_of('.')));
-				}
-				else if(!_multiModels.empty())
-				{
-					// calibration is shared across all frames
-					models = _multiModels;
+					UASSERT_MSG(stampsSize==0 || stampsSize == _models.size(), 
+						uFormat("Stamps=%ld models=%ld", _stamps.size(), _models.size()).c_str());
+					model = _models.front();
+					_models.pop_front();
 				}

 				while(_count++ < _startAt)
@@ -1040,27 +875,14 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 						groundTruthPose = groundTruth_.front();
 						groundTruth_.pop_front();
 					}
-					if(_modelFileNames.size())
+					if(_models.size() && !model.isValidForProjection())
 					{
-						UASSERT_MSG(stampsSize==0 || stampsSize == _modelFileNames.size(),
-							uFormat("Stamps=%ld models=%ld", _stamps.size(), _modelFileNames.size()).c_str());
-						// per-frame calibration loaded on demand (not kept in memory)
-						models.back() = loadConfigModel(_modelFileNames.front());
-						_modelFileNames.pop_front();
-					}
-					if(_multiCameraCalib && _hasConfigForEachFrame)
-					{
-						// Per-frame calibration loaded on demand (not kept in memory),
-						// keyed by the current image's base name.
-						models = loadMultiCameraModels(imageFileName.substr(0, imageFileName.find_last_of('.')));
-					}
-					else if(!_multiModels.empty())
-					{
-						// calibration is shared across all frames
-						models = _multiModels;
+						UASSERT_MSG(stampsSize==0 || stampsSize == _models.size(), 
+							uFormat("Stamps=%ld models=%ld", _stamps.size(), _models.size()).c_str());
+						model = _models.front();
+						_models.pop_front();
 					}
 				}
-				_lastImageFileName = imageFileName; // expose the current frame name to subclasses
 			}
 		}

@@ -1129,67 +951,9 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 					}
 				}

-				if(!img.empty() && !models.empty())
+				if(!img.empty() && model.isValidForRectification() && _rectifyImages)
 				{
-					// The image is a horizontal stack of N sub-images (N==1 in
-					// single-camera mode). Each sub-camera's width comes from its
-					// calibrated image size; if a model has no size (==0), assume a
-					// uniform split (stackedWidth / N) and set it. If requested, each
-					// sub-image is rectified independently with its model and written
-					// into a new stacked image of the same layout.
-					cv::Mat rectified;
-					int offset = 0;
-					bool rectifyAborted = false;
-					for(size_t i=0; i<models.size(); ++i)
-					{
-						if(models[i].imageWidth()==0 || models[i].imageHeight()==0)
-						{
-							models[i].setImageSize(cv::Size(img.cols/(int)models.size(), img.rows));
-						}
-						int subWidth = models[i].imageWidth();
-						if(offset+subWidth > img.cols)
-						{
-							UERROR("Multi-camera: sum of sub-image widths (%d) exceeds the stacked "
-									"image width (%d) at camera %d.", offset+subWidth, img.cols, (int)i);
-							rectified = cv::Mat();
-							rectifyAborted = true;
-							break;
-						}
-						if(_rectifyImages)
-						{
-							if(!models[i].isValidForRectification())
-							{
-								// In multi-camera mode a valid calibration is expected for each
-								// sub-camera. In single-camera mode this is a passthrough (e.g. the
-								// base reader of a stereo/RGBD subclass that rectifies itself, or
-								// images that are already rectified): skip silently to keep the
-								// backward-compatible behavior.
-								if(_multiCameraCalib)
-								{
-									UERROR("Parameter \"rectifyImages\" is set, but camera model %d is not valid for rectification.", (int)i);
-								}
-								rectified = cv::Mat();
-								rectifyAborted = true;
-								break;
-							}
-							if(rectified.empty())
-							{
-								rectified = cv::Mat::zeros(img.rows, img.cols, img.type());
-							}
-							cv::Rect roi(offset, 0, subWidth, img.rows);
-							models[i].rectifyImage(img(roi)).copyTo(rectified(roi));
-						}
-						offset += subWidth;
-					}
-					if(!rectifyAborted && offset != img.cols)
-					{
-						UWARN("Multi-camera: sum of sub-image widths (%d) does not match the "
-								"stacked image width (%d).", offset, img.cols);
-					}
-					if(!rectified.empty())
-					{
-						img = rectified;
-					}
+					img = model.rectifyImage(img);
 				}
 			}

@@ -1202,7 +966,7 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 				if(_depthFromScan && !img.empty())
 				{
 					UDEBUG("Computing depth from scan...");
-					if(models.empty() || !models.front().isValidForProjection())
+					if(!model.isValidForProjection())
 					{
 						UWARN("Depth from laser scan: Camera model should be valid.");
 					}
@@ -1213,23 +977,10 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 					else
 					{
 						pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(scan, scan.localTransform());
-						// There is no multi-camera version of projectCloudToCamera(): project
-						// the scan into each (sub-)camera and stack the registered depth images
-						// horizontally, matching the RGB layout (single iteration in single-camera
-						// mode). Sub-image widths come from each model's (already set) image size.
-						// Holes are filled per sub-image so they don't bleed across cameras.
-						depthFromScan = cv::Mat::zeros(img.rows, img.cols, CV_32FC1);
-						int offset = 0;
-						for(size_t i=0; i<models.size() && offset+models[i].imageWidth()<=img.cols; ++i)
+						depthFromScan = util3d::projectCloudToCamera(img.size(), model.K(), cloud, model.localTransform());
+						if(_depthFromScanFillHoles!=0)
 						{
-							int subWidth = models[i].imageWidth();
-							cv::Mat subDepth = util3d::projectCloudToCamera(cv::Size(subWidth, img.rows), models[i].K(), cloud, models[i].localTransform());
-							if(_depthFromScanFillHoles!=0)
-							{
-								util3d::fillProjectedCloudHoles(subDepth, _depthFromScanFillHoles>0, _depthFromScanFillHolesFromBorder);
-							}
-							subDepth.copyTo(depthFromScan(cv::Rect(offset, 0, subWidth, img.rows)));
-							offset += subWidth;
+							util3d::fillProjectedCloudHoles(depthFromScan, _depthFromScanFillHoles>0, _depthFromScanFillHolesFromBorder);
 						}
 					}
 				}
@@ -1241,10 +992,15 @@ SensorData CameraImages::captureImage(SensorCaptureInfo * info)
 		UWARN("Directory is not set, camera must be initialized.");
 	}

+	if(model.imageHeight() == 0 || model.imageWidth() == 0)
+	{
+		model.setImageSize(img.size());
+	}
+
 	SensorData data;
 	if(!img.empty() || !scan.empty())
 	{
-		data = SensorData(scan, _isDepth?cv::Mat():img, _isDepth?img:depthFromScan, models, this->getNextSeqID(), stamp);
+		data = SensorData(scan, _isDepth?cv::Mat():img, _isDepth?img:depthFromScan, model, this->getNextSeqID(), stamp);
 		data.setGroundTruth(groundTruthPose);
 	}

@@ -220,12 +220,6 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
 #ifdef RTABMAP_ORBBEC_SDK
    this->close();

-    // The Orbbec SDK reports failures by throwing ob::Error (e.g. uvc_open
-    // access denied on macOS without camera permission, or unsupported config).
-    // Catch them here so init() logs the error and returns false instead of
-    // letting the exception propagate and abort the whole process.
-    try {
-
    std::shared_ptr<ob::Device> device;

    ob::Context context;
@@ -282,20 +276,16 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
    }

    if(device.get() == nullptr) {
-#ifdef __APPLE__
-        const std::string connectHint = "camera is correctly connected. On macOS the Orbbec "
-            "camera can only be accessed with root privileges, so run the application with sudo.";
-#else
-        const std::string connectHint = "camera is correctly connected and the udev rules are installed.";
-#endif
        if(deviceId_.empty()) {
-            UERROR("Could not find any orbbec compatible devices! Verify that the %s", connectHint.c_str());
+            UERROR( "Could not find any orbbec compatible devices! Verify that the "
+                    "camera is correctly connected and the udev rules are installed.");
        }
        else {
-            UERROR("Could not find an orbbec device with ID \"%s\"! Verify that the %s "
-                   "Unset the ID to choose the first camera found.", deviceId_.c_str(), connectHint.c_str());
+            UERROR("Could not find an orbbec device with ID \"%s\"! Verify that the "
+                   "camera is correctly connected and the udev rules are installed. "
+                   "Unset the ID to choose the first camera found.");
        }
-
+        
        return false;
    }

@@ -556,22 +546,6 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
        return false;
    }
    
-    }
-    catch(const ob::Error & e)
-    {
-#ifdef __APPLE__
-        UERROR("Failed to initialize Orbbec camera: %s. On macOS the Orbbec SDK accesses "
-               "the camera through libusb, which must take the USB interface from the system "
-               "UVC driver; this requires root privileges. If this is a USB access error "
-               "(e.g. \"uvc_open failed ... Return Code: -3\"), run the application with sudo.",
-               e.what());
-#else
-        UERROR("Failed to initialize Orbbec camera: %s", e.what());
-#endif
-        this->close();
-        return false;
-    }
-
    return true;
 #else
    UERROR("CameraOrbbecSDK: RTAB-Map is not built with Orbbec SDK support!");
@@ -624,19 +598,13 @@ SensorData CameraOrbbecSDK::captureImage(SensorCaptureInfo * info)
        UERROR("Camera is not initialized!");
        return data;
    }
-
-    // The streaming calls below can throw ob::Error (transient frame/USB
-    // errors, filter or profile failures). Catch them so a bad frame is logged
-    // and skipped (empty SensorData) instead of aborting the whole process.
-    try {
-
    auto frameset = pipeline_->waitForFrameset();
    if(frameset == nullptr || frameset->getCount() == 0) {
        UWARN("No frame received!");
        return data;
    }
    if(frameset->getCount() != 2) {
-        UWARN("Received %u frames, expecting 2!", frameset->getCount());
+        UWARN("Received %s frames, expecting 2!", frameset->getCount());
        return data;
    }

@@ -765,13 +733,6 @@ SensorData CameraOrbbecSDK::captureImage(SensorCaptureInfo * info)
        }
    }

-    }
-    catch(const ob::Error & e)
-    {
-        UERROR("Error capturing Orbbec camera frame: %s", e.what());
-        return data;
-    }
-
 #else
    UERROR("CameraOrbbecSDK: RTAB-Map is not built with Orbbec SDK support!");
 #endif
@@ -107,14 +107,10 @@ void CameraRealSense2::close()
 			{
 				if(!_sensor.get_active_streams().empty())
 				{
-					std::string sensorName = _sensor.supports(RS2_CAMERA_INFO_NAME) ? _sensor.get_info(RS2_CAMERA_INFO_NAME) : "?";
 					try
 					{
-						UDEBUG("stop() sensor \"%s\"...", sensorName.c_str());
 						_sensor.stop();
-						UDEBUG("stop() sensor \"%s\" done; close()...", sensorName.c_str());
 						_sensor.close();
-						UDEBUG("close() sensor \"%s\" done", sensorName.c_str());
 					}
 					catch(const rs2::error & error)
 					{
@@ -123,15 +119,12 @@ void CameraRealSense2::close()
 				}
 			}
 #ifdef WIN32
-			UDEBUG("Windows-only: Hardware reset (to avoid freezing when clearing devices)...");
 			dev_[i].hardware_reset(); // To avoid freezing on some Windows computers in the following destructor
 			// Don't do this on linux (tested on Ubuntu 18.04, realsense v2.41.0): T265 cannot be restarted
-			UDEBUG("Windows-only: Hardware reset... done");
 #endif
 		}
 		UDEBUG("Clearing devices...");
 		dev_.clear();
-		UDEBUG("Clearing devices... done!");
 	}
 	catch(const rs2::error & error)
 	{
@@ -515,14 +508,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		rs2::device_list list = ctx_.query_devices();
 		if (0 == list.size())
 		{
-#ifdef __APPLE__
-			UERROR("No RealSense2 devices were found! On macOS the RealSense SDK accesses "
-			       "the camera through libusb, which must take the USB interface from the "
-			       "system driver; this requires root privileges. If a device is connected "
-			       "but not detected, run the application with sudo.");
-#else
 			UERROR("No RealSense2 devices were found!");
-#endif
 			return false;
 		}

@@ -560,12 +546,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		}
 		catch(const rs2::error & error)
 		{
-#ifdef __APPLE__
-			UERROR("%s. Is the camera already used with another app? On macOS, accessing a "
-			      "RealSense camera requires root privileges, so try running with sudo.", error.what());
-#else
-			UERROR("%s. Is the camera already used with another app?", error.what());
-#endif
+			UWARN("%s. Is the camera already used with another app?", error.what());
 		}

 		if (!found)
@@ -27,8 +27,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include <rtabmap/core/camera/CameraStereoImages.h>
 #include <rtabmap/utilite/UStl.h>
-#include <rtabmap/utilite/UFile.h>
-#include <rtabmap/utilite/UConversion.h>
 #include <opencv2/imgproc/types_c.h>

 namespace rtabmap
@@ -89,12 +87,10 @@ bool CameraStereoImages::init(const std::string & calibrationFolder, const std::
 {
 	UINFO("Calibration folder: \"%s\", name=\"%s\"", calibrationFolder.c_str(), cameraName.c_str());

-	multiStereoModels_.clear();
-
 	// look for calibration files
-	if(!_multiCameraCalib && !calibrationFolder.empty() && !cameraName.empty())
+	if(!calibrationFolder.empty() && !cameraName.empty())
 	{
-		if(!stereoModel_.load(calibrationFolder, cameraName, false, this->isImagesRectified()) && !stereoModel_.isValidForProjection())
+		if(!stereoModel_.load(calibrationFolder, cameraName, false) && !stereoModel_.isValidForProjection())
 		{
 			UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
 					cameraName.c_str(), calibrationFolder.c_str());
@@ -109,32 +105,16 @@ bool CameraStereoImages::init(const std::string & calibrationFolder, const std::
 		}
 	}

-	if(!_multiCameraCalib)
+	stereoModel_.setLocalTransform(this->getLocalTransform());
+	stereoModel_.setName(cameraName);
+	if(this->isImagesRectified() && !stereoModel_.isValidForRectification())
 	{
-		stereoModel_.setLocalTransform(this->getLocalTransform());
-		stereoModel_.setName(cameraName);
-		if(this->isImagesRectified() && !stereoModel_.isValidForRectification())
-		{
-			UWARN("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid for rectification. This can be ignored if input images are already rectified.");
-		}
+		UWARN("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid for rectification. This can be ignored if input images are already rectified.");
 	}

 	//desactivate before init as we will do it in this class instead for convenience
 	bool rectify = this->isImagesRectified();
 	this->setImagesRectified(false);
-	// The base reader is used here only to enumerate/read the left images; in
-	// multi-camera mode this class loads the calibration and splits the images
-	// itself, so prevent the base from doing its own multi-camera handling and
-	// per-frame config loading (which would look for config files inside the image
-	// directory). Both flags are restored below: _multiCameraCalib still drives the
-	// per-frame vs. shared calibration loading in this class.
-	bool configForEachFrame = this->isConfigForEachFrame();
-	bool multiCameraCalib = _multiCameraCalib;
-	if(multiCameraCalib)
-	{
-		this->setConfigForEachFrame(false);
-	}
-	_multiCameraCalib = false;

 	bool success = false;
 	if(CameraImages::init())
@@ -164,141 +144,13 @@ bool CameraStereoImages::init(const std::string & calibrationFolder, const std::
 			success = true;
 		}
 	}
-
-	// restore the flags: _multiCameraCalib drives the per-frame vs. shared calibration loading below
-	this->setConfigForEachFrame(configForEachFrame);
-	_multiCameraCalib = multiCameraCalib;
-
-	if(success && _multiCameraCalib)
-	{
-		// Multi-camera stereo mode: each left/right image is a horizontal stack of N
-		// sub-camera images. Load one StereoCameraModel per sub-camera from calibration
-		// files named "<imageBaseName>_<index>_left.yaml" and "<imageBaseName>_<index>_right.yaml"
-		// (index starting at 0).
-		if(calibrationFolder.empty())
-		{
-			UERROR("Multi-camera calibration is enabled but no calibration folder was provided.");
-			success = false;
-		}
-		else
-		{
-			const std::vector<std::string> imageFiles = this->filenames();
-			std::string firstBase = imageFiles.front().substr(0, imageFiles.front().find_last_of('.'));
-
-			// In config-for-each-frame mode the prefix is each image's base name (one
-			// calibration set per frame). Otherwise a single calibration set is shared by all
-			// frames, using cameraName as the prefix when provided. cameraName may point to a
-			// specific sub-camera calibration "<rig>_<index>" (e.g. when a single calibration
-			// file is selected); in that case strip the trailing "_<index>" to recover the rig
-			// prefix shared by all sub-cameras. Fall back to the first image's base name if empty.
-			std::string leftSuffix = "_0_" + stereoModel_.getLeftSuffix() + ".yaml";
-			std::string sharedBase = cameraName;
-			if(!sharedBase.empty() && !UFile::exists(calibrationFolder + "/" + sharedBase + leftSuffix))
-			{
-				std::size_t us = sharedBase.find_last_of('_');
-				if(us != std::string::npos && us+1 < sharedBase.size() &&
-					sharedBase.find_first_not_of("0123456789", us+1) == std::string::npos &&
-					UFile::exists(calibrationFolder + "/" + sharedBase.substr(0, us) + leftSuffix))
-				{
-					sharedBase = sharedBase.substr(0, us);
-				}
-			}
-			if(sharedBase.empty())
-			{
-				sharedBase = firstBase;
-			}
-
-			// auto-detect the number of cameras
-			int numCameras = 0;
-			std::string detectBase = this->isConfigForEachFrame() ? firstBase : sharedBase;
-			while(UFile::exists(calibrationFolder + "/" + detectBase + "_" + uNumber2Str(numCameras) + "_" + stereoModel_.getLeftSuffix() + ".yaml"))
-			{
-				++numCameras;
-			}
-
-			if(numCameras == 0)
-			{
-				UERROR("Multi-camera calibration is enabled but no calibration file matching "
-						"\"%s/%s_<index>_%s.yaml\" was found.",
-						calibrationFolder.c_str(), detectBase.c_str(), stereoModel_.getLeftSuffix().c_str());
-				success = false;
-			}
-			else
-			{
-				UINFO("Multi-camera stereo mode: %d sub-cameras detected from \"%s\" (%s).", numCameras, calibrationFolder.c_str(),
-						this->isConfigForEachFrame()?"one calibration per frame, loaded on demand":
-								uFormat("calibration \"%s_<index>\" reused for all frames", sharedBase.c_str()).c_str());
-				_calibrationFolder = calibrationFolder;
-				_multiCameraCount = numCameras;
-				if(this->isConfigForEachFrame())
-				{
-					// Validate the first frame now; the per-frame sub-camera stereo models are
-					// loaded on demand in captureImage() (keyed by each image's base name) so we
-					// don't keep every frame's models - and their rectification maps - in memory.
-					if(loadStereoCameraModels(firstBase, rectify).empty())
-					{
-						success = false;
-					}
-				}
-				else
-				{
-					// A single calibration set is shared by all frames: load it once.
-					std::vector<StereoCameraModel> models = loadStereoCameraModels(sharedBase, rectify);
-					if(models.empty())
-					{
-						success = false;
-					}
-					else
-					{
-						multiStereoModels_ = models;
-					}
-				}
-			}
-		}
-	}
-
 	this->setImagesRectified(rectify); // reset the flag
 	return success;
 }

 bool CameraStereoImages::isCalibrated() const
 {
-	return stereoModel_.isValidForProjection() ||
-			(!multiStereoModels_.empty() && multiStereoModels_.front().isValidForProjection()) ||
-			(_multiCameraCalib && this->isConfigForEachFrame() && _multiCameraCount > 0); // per-frame models loaded on demand
-}
-
-std::vector<StereoCameraModel> CameraStereoImages::loadStereoCameraModels(const std::string & baseName, bool rectify) const
-{
-	std::vector<StereoCameraModel> models(_multiCameraCount);
-	for(int i=0; i<_multiCameraCount; ++i)
-	{
-		std::string name = baseName + "_" + uNumber2Str(i);
-		if(!models[i].load(_calibrationFolder, name, true /*ignoreStereoTransform*/, rectify) || !models[i].isValidForProjection())
-		{
-			UERROR("Failed to load a valid stereo calibration \"%s/%s_{%s,%s}.yaml\" for multi-camera frame base \"%s\".",
-					_calibrationFolder.c_str(), name.c_str(),
-					models[i].getLeftSuffix().c_str(), models[i].getRightSuffix().c_str(), baseName.c_str());
-			return std::vector<StereoCameraModel>();
-		}
-		if(models[i].localTransform().isNull())
-		{
-			// In multi-camera mode the rig extrinsics are required: each
-			// sub-camera calibration must provide a "local_transform".
-			UERROR("Stereo calibration \"%s/%s_%s.yaml\" has no \"local_transform\"; it is "
-					"required in multi-camera mode (rig extrinsics).",
-					_calibrationFolder.c_str(), name.c_str(), models[i].getLeftSuffix().c_str());
-			return std::vector<StereoCameraModel>();
-		}
-		if(rectify && !models[i].isValidForRectification())
-		{
-			UERROR("Parameter \"rectifyImages\" is set, but stereo calibration \"%s/%s_{%s,%s}.yaml\" is not valid for rectification.",
-					_calibrationFolder.c_str(), name.c_str(),
-					models[i].getLeftSuffix().c_str(), models[i].getRightSuffix().c_str());
-			return std::vector<StereoCameraModel>();
-		}
-	}
-	return models;
+	return stereoModel_.isValidForProjection();
 }

 std::string CameraStereoImages::getSerial() const
@@ -311,11 +163,6 @@ SensorData CameraStereoImages::captureImage(SensorCaptureInfo * info)
 	SensorData data;

 	SensorData left, right;
-	// Disable the base reader's own multi-camera handling while reading the stacked
-	// left/right images: this class splits and rectifies them itself below. Restored
-	// before the multi-camera branch, which relies on the real flag value.
-	bool multiCameraCalib = _multiCameraCalib;
-	_multiCameraCalib = false;
 	left = CameraImages::captureImage(info);
 	if(!left.imageRaw().empty())
 	{
@@ -328,86 +175,18 @@ SensorData CameraStereoImages::captureImage(SensorCaptureInfo * info)
 		{
 			right = this->takeImage(info);
 		}
-	}
-	_multiCameraCalib = multiCameraCalib;

-	if(!left.imageRaw().empty() && !right.imageRaw().empty())
-	{
-		// Rectification
-		cv::Mat leftImage = left.imageRaw();
-		cv::Mat rightImage = right.imageRaw();
-		if(rightImage.type() != CV_8UC1 && rightGrayScale_)
+		if(!right.imageRaw().empty())
 		{
-			cv::Mat tmp;
-			cv::cvtColor(rightImage, tmp, CV_BGR2GRAY);
-			rightImage = tmp;
-		}
-
-		if(multiCameraCalib)
-		{
-			// Multi-camera stereo mode: left and right images are horizontal stacks
-			// of N sub-images (one stereo pair per sub-camera). Each pair is rectified
-			// independently with its own model and written back into a stacked image of
-			// the same layout. Sub-images are split using a uniform width (cols / N),
-			// matching the convention used downstream to de-stack the images.
-			std::vector<StereoCameraModel> models;
-			if(this->isConfigForEachFrame())
+			// Rectification
+			cv::Mat leftImage = left.imageRaw();
+			cv::Mat rightImage = right.imageRaw();
+			if(rightImage.type() != CV_8UC1 && rightGrayScale_)
 			{
-				// Per-frame calibration loaded on demand (not kept in memory),
-				// keyed by the current image's base name.
-				std::string base = this->lastImageFileName();
-				base = base.substr(0, base.find_last_of('.'));
-				models = loadStereoCameraModels(base, this->isImagesRectified());
+				cv::Mat tmp;
+				cv::cvtColor(rightImage, tmp, CV_BGR2GRAY);
+				rightImage = tmp;
 			}
-			else
-			{
-				// a single calibration set is shared by all frames
-				UASSERT(!multiStereoModels_.empty());
-				models = multiStereoModels_;
-			}
-			if(models.empty())
-			{
-				return data;
-			}
-			int n = (int)models.size();
-
-			if(leftImage.cols % n != 0 || rightImage.cols % n != 0)
-			{
-				UERROR("Multi-camera stereo: stacked image width (left=%d, right=%d) is not "
-						"divisible by the number of cameras (%d).", leftImage.cols, rightImage.cols, n);
-				return data;
-			}
-			int subWidthLeft = leftImage.cols/n;
-			int subWidthRight = rightImage.cols/n;
-
-			if(this->isImagesRectified())
-			{
-				cv::Mat leftRect(leftImage.rows, leftImage.cols, leftImage.type());
-				cv::Mat rightRect(rightImage.rows, rightImage.cols, rightImage.type());
-				for(int i=0; i<n; ++i)
-				{
-					cv::Rect roiL(subWidthLeft*i, 0, subWidthLeft, leftImage.rows);
-					cv::Rect roiR(subWidthRight*i, 0, subWidthRight, rightImage.rows);
-					models[i].left().rectifyImage(leftImage(roiL)).copyTo(leftRect(roiL));
-					models[i].right().rectifyImage(rightImage(roiR)).copyTo(rightRect(roiR));
-				}
-				leftImage = leftRect;
-				rightImage = rightRect;
-			}
-
-			for(int i=0; i<n; ++i)
-			{
-				if(models[i].left().imageHeight() == 0 || models[i].left().imageWidth() == 0)
-				{
-					models[i].setImageSize(cv::Size(subWidthLeft, leftImage.rows));
-				}
-			}
-
-			data = SensorData(left.laserScanRaw(), leftImage, rightImage, models, left.id()/(camera2_?1:2), left.stamp());
-			data.setGroundTruth(left.groundTruth());
-		}
-		else
-		{
 			if(this->isImagesRectified() && stereoModel_.isValidForRectification())
 			{
 				leftImage = stereoModel_.left().rectifyImage(leftImage);
@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UThread.h>
 #include <rtabmap/utilite/UConversion.h>
-#include <rtabmap/utilite/UMath.h>

 #ifdef RTABMAP_ZED
 #include <sl/Camera.hpp>
@@ -78,7 +77,7 @@ static cv::Mat slMat2cvMat(sl::Mat& input) {
 #endif
 }

-static Transform zedPoseToTransform(const sl::Pose & pose)
+Transform zedPoseToTransform(const sl::Pose & pose)
 {
 	return Transform(
 			pose.pose_data.m[0], pose.pose_data.m[1], pose.pose_data.m[2], pose.pose_data.m[3],
@@ -87,7 +86,7 @@ static Transform zedPoseToTransform(const sl::Pose & pose)
 }

 #if ZED_SDK_MAJOR_VERSION < 3
-static IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTransform)
+IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTransform)
 {
 	sl::Orientation orientation = imuData.pose_data.getOrientation();

@@ -125,7 +124,7 @@ static IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTr
 			imuLocalTransform);
 }
 #else
-static IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imuLocalTransform)
+IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imuLocalTransform)
 {
    sl::Orientation orientation = sensorData.imu.pose.getOrientation();

@@ -162,23 +161,6 @@ static IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imu
            accCov,
            imuLocalTransform);
 }
-
-// sl::SensorsData::imu.is_available only means the camera has an IMU; a returned
-// sample can still contain NaN pose/accel/gyro (e.g. before the IMU fusion has
-// initialized, or in SVO/STREAM mode). Validate the actual measurements.
-static bool isImuValid(const sl::SensorsData & sensorData)
-{
-	if(!sensorData.imu.is_available)
-	{
-		return false;
-	}
-	const sl::float3 & acc = sensorData.imu.linear_acceleration;
-	const sl::float3 & gyr = sensorData.imu.angular_velocity;
-	const sl::Orientation ori = sensorData.imu.pose.getOrientation();
-	return uIsFinite(acc.v[0]) && uIsFinite(acc.v[1]) && uIsFinite(acc.v[2]) &&
-	       uIsFinite(gyr.v[0]) && uIsFinite(gyr.v[1]) && uIsFinite(gyr.v[2]) &&
-	       uIsFinite(ori.ox) && uIsFinite(ori.oy) && uIsFinite(ori.oz) && uIsFinite(ori.ow);
-}
 #endif

 class ZedIMUThread: public UThread
@@ -235,7 +217,7 @@ private:
 #else
        sl::SensorsData sensordata;
        sl::ERROR_CODE res = zed_->getSensorsData(sensordata, sl::TIME_REFERENCE::CURRENT);
-        if(res == sl::ERROR_CODE::SUCCESS && isImuValid(sensordata))
+        if(res == sl::ERROR_CODE::SUCCESS && sensordata.imu.is_available)
        {
        	camera_->postInterIMUPublic(zedIMUtoIMU(sensordata, imuLocalTransform_), double(sensordata.imu.timestamp.getNanoseconds())/10e8);
        }
@@ -269,56 +251,6 @@ int CameraStereoZed::sdkVersion()
 #endif
 }

-#ifdef RTABMAP_ZED
-static void backwardCompatibility(int & resolution, int & quality)
-{
-	// -1 = AUTO, 0=HD4K 1=QHDPLUS 2=HD2K 3=HD1536 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA 9=XVGA 10=TXVGA
-#if ZED_SDK_MAJOR_VERSION < 4
-	// Zed3 Supported: 2=HD2K 4=HD1080 6=HD720 8=VGA
-	if(resolution == 0 || resolution == 1) // 0=HD4K 1=QHDPLUS
-	{
-		UWARN("Zed SDK v3 doesn't support HD4K and QHDPLUS, setting HD2K.");
-		resolution = 2; // 2=HD2K
-	}
-	if(resolution == 3 || resolution == 5) // 3=HD1536 5=HD1200
-	{
-		UWARN("Zed SDK v3 doesn't support HD1536 and HD1200, setting HD1080.");
-		resolution = 4; // 4=HD1080
-	}
-	if(resolution == 7 || resolution >=9) // 7=SVGA 9=XVGA 10=TXVGA
-	{
-		UWARN("Zed SDK v3 doesn't support SVGA, XVGA and TXVGA, setting VGA.");
-		resolution = 8; // 8=VGA
-	}
-	if(quality == 4) { // 4=NEURAL_LIGHT 6=NEURAL_PLUS
-		UWARN("Zed SDK v3 doesn't support NEURAL_LIGHT and NEURAL PLUS, setting NEURAL.");
-		quality = 5; // NEURAL
-	}
-#else 
-	if(resolution == -1)
-	{
-		resolution = int(sl::RESOLUTION::AUTO); // AUTO
-	}
-#if ZED_SDK_MAJOR_VERSION < 5
-	// Zed4 Supported: 0=HD4K 1=QHDPLUS 2=HD2K 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA
-	if(resolution == 3) // 3=HD1536
-	{
-		UWARN("Zed SDK v4 doesn't support HD1536, setting HD1200.");
-		resolution_ = 5; // 5=HD1200
-	}
-	if(resolution >=9) // 9=XVGA 10=TXVGA
-	{
-		UWARN("Zed SDK v4 doesn't support XVGA and TXVGA, setting VGA.");
-		resolution = 8; // 8=VGA
-	}
-	if(quality > 5) { // NEURAL_PLUS
-		UWARN("Zed SDK v4 doesn't support NEURAL_LIGHT and NEURAL PLUS, setting NEURAL.");
-		quality = 5; // NEURAL
-	}
-#endif
-#endif
-}
-#endif

 CameraStereoZed::CameraStereoZed(
 		int deviceId,
@@ -353,8 +285,29 @@ CameraStereoZed::CameraStereoZed(
 {
 	UDEBUG("");
 #ifdef RTABMAP_ZED
-	
-	backwardCompatibility(resolution_, quality_);
+#if ZED_SDK_MAJOR_VERSION < 4
+	if(resolution_ == 1 || resolution_ == 2) // HD2K, HD1080
+	{
+		resolution_ -= 1; // HD2K=0, HD1080=1
+	}
+	if(resolution_ == 3) // HD1200
+	{
+		resolution_ = 1; // HD1080=1
+	}
+	if(resolution_ == 4 || resolution_ == -1)
+	{
+		resolution_ = 2; // HD720=2
+	}
+	else if(resolution_ == 5 || resolution_ == 6) // SVGA, VGA
+	{
+		resolution_ = 3; // VGA=3
+	}
+#else // ZED=4
+	if(resolution_ == -1)
+	{
+		resolution_ = int(sl::RESOLUTION::AUTO); // AUTO
+	}
+#endif

 #if ZED_SDK_MAJOR_VERSION < 3
 	UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ <sl::RESOLUTION_LAST);
@@ -418,7 +371,6 @@ CameraStereoZed::CameraStereoZed(
 {
 	UDEBUG("");
 #ifdef RTABMAP_ZED
-	backwardCompatibility(resolution_, quality_);
 #if ZED_SDK_MAJOR_VERSION < 3
 	UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ <sl::RESOLUTION_LAST);
 	UASSERT(quality_ >= sl::DEPTH_MODE_NONE && quality_ <sl::DEPTH_MODE_LAST);
@@ -454,33 +406,6 @@ CameraStereoZed::~CameraStereoZed()
 #endif
 }

-std::string CameraStereoZed::getNeuralModelWarning(int quality)
-{
-	(void)quality;
-#if defined(RTABMAP_ZED) && ZED_SDK_MAJOR_VERSION >= 5
-	sl::DEPTH_MODE depthMode = (sl::DEPTH_MODE)quality;
-	if(depthMode == sl::DEPTH_MODE::NEURAL_LIGHT ||
-	   depthMode == sl::DEPTH_MODE::NEURAL ||
-	   depthMode == sl::DEPTH_MODE::NEURAL_PLUS)
-	{
-		sl::AI_MODELS aiModel =
-			depthMode == sl::DEPTH_MODE::NEURAL_LIGHT ? sl::AI_MODELS::NEURAL_LIGHT_DEPTH :
-			depthMode == sl::DEPTH_MODE::NEURAL_PLUS  ? sl::AI_MODELS::NEURAL_PLUS_DEPTH :
-			                                            sl::AI_MODELS::NEURAL_DEPTH;
-		sl::AI_Model_status status = sl::checkAIModelStatus(aiModel);
-		if(!status.downloaded || !status.optimized)
-		{
-			return uFormat("The selected ZED NEURAL depth model is not ready yet (downloaded=%s, "
-			               "optimized=%s): the first start may take significantly longer while the "
-			               "ZED SDK downloads and/or optimizes the model for your GPU. Subsequent "
-			               "starts will be faster.",
-			               status.downloaded?"true":"false", status.optimized?"true":"false");
-		}
-	}
-#endif
-	return std::string();
-}
-
 bool CameraStereoZed::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
 	UDEBUG("");
@@ -538,35 +463,9 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 		r = zed_->open(param);
 	}

-#if ZED_SDK_MAJOR_VERSION >= 3
-	// CORRUPTED_SDK_INSTALLATION on open() is typically a NEURAL depth mode whose optional
-	// neural/TensorRT runtime files aren't installed. Give a clear, actionable error.
-	if(r == sl::ERROR_CODE::CORRUPTED_SDK_INSTALLATION &&
-#if ZED_SDK_MAJOR_VERSION >= 5
-		param.depth_mode >= sl::DEPTH_MODE::NEURAL_LIGHT)
-#else
-		param.depth_mode >= sl::DEPTH_MODE::NEURAL)
-#endif
-	{
-		UERROR("ZED open() returned \"%s\": the optional NEURAL/TensorRT runtime files are "
-		       "likely missing. Install ZED SDK %d.%d, or select a non-NEURAL depth mode "
-		       "(e.g. PERFORMANCE).", toString(r).c_str(), ZED_SDK_MAJOR_VERSION, ZED_SDK_MINOR_VERSION);
-		// Do NOT delete zed_ here: after a CORRUPTED_SDK_INSTALLATION open failure (NEURAL depth
-		// mode selected but the TensorRT/neural runtime isn't installed) the ZED SDK is left in a
-		// bad state and ~sl::Camera() crashes inside sl_zed64.dll. Leak the object (one-time,
-		// terminal error path) so we fail gracefully with the message above instead of crashing.
-		zed_ = 0;
-		return false;
-	}
-#endif
-
 	if(r!=sl::ERROR_CODE::SUCCESS)
 	{
-#if ZED_SDK_MAJOR_VERSION >= 4
-		UERROR("Camera initialization failed: \"%s\": %s", toString(r).c_str(), toVerbose(r).c_str());
-#else
 		UERROR("Camera initialization failed: \"%s\"", toString(r).c_str());
-#endif
 		delete zed_;
 		zed_ = 0;
 		return false;
@@ -603,11 +502,7 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 #endif
        if(r!=sl::ERROR_CODE::SUCCESS)
 		{
-#if ZED_SDK_MAJOR_VERSION >= 4
-			UERROR("Camera tracking initialization failed: \"%s\": %s", toString(r).c_str(), toVerbose(r).c_str());
-#else
 			UERROR("Camera tracking initialization failed: \"%s\"", toString(r).c_str());
-#endif
 		}
 	}

@@ -836,24 +731,16 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 			res = zed_->grab(rparam);
 			timestamp = zed_->getTimestamp(sl::TIME_REFERENCE::IMAGE);

-			// If the sensor supports IMU, wait for IMU to be available before sending data.
+			// If the sensor supports IMU, wait IMU to be available before sending data.
 			if(imuPublishingThread_ == 0 && !imuLocalTransform_.isNull())
 			{
 				 sl::SensorsData imudatatmp;
 				res = zed_->getSensorsData(imudatatmp, sl::TIME_REFERENCE::IMAGE);
-				imuReceived = res == sl::ERROR_CODE::SUCCESS && isImuValid(imudatatmp) && imudatatmp.imu.timestamp.getNanoseconds() != 0;
+				imuReceived = res == sl::ERROR_CODE::SUCCESS && imudatatmp.imu.is_available && imudatatmp.imu.timestamp.getNanoseconds() != 0;
 			}
 		}
 		while(src_ == CameraVideo::kUsbDevice && (res!=sl::ERROR_CODE::SUCCESS || !imuReceived) && timer.elapsed() < 2.0);

-		// If no valid IMU arrived within the 2 sec startup window, null the IMU transform so
-		// we don't re-wait 2 sec on every subsequent frame (camera likely has no working IMU).
-		if(imuPublishingThread_ == 0 && !imuLocalTransform_.isNull() && !imuReceived)
-		{
-			UWARN("No valid IMU received within 2 sec; ignoring IMU for the rest of this session.");
-			imuLocalTransform_.setNull();
-		}
-
        if(res==sl::ERROR_CODE::SUCCESS)
 #endif
 		{
@@ -907,7 +794,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 #endif
 			}

-			if(imuPublishingThread_ == 0 && !imuLocalTransform_.isNull())
+			if(imuPublishingThread_ == 0)
 			{
 #if ZED_SDK_MAJOR_VERSION < 3
 				sl::IMUData imudata;
@@ -916,7 +803,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 #else
                sl::SensorsData imudata;
                res = zed_->getSensorsData(imudata, sl::TIME_REFERENCE::IMAGE);
-                if(res == sl::ERROR_CODE::SUCCESS && isImuValid(imudata))
+                if(res == sl::ERROR_CODE::SUCCESS && imudata.imu.is_available)
 #endif
 				{
 					//ZED-Mini
@@ -989,11 +876,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 		}
 		else if(src_ == CameraVideo::kUsbDevice)
 		{
-#if ZED_SDK_MAJOR_VERSION >= 4
-			UERROR("CameraStereoZed: Failed to grab images after 2 seconds! (%s: %s)", toString(res).c_str(), toVerbose(res).c_str());
-#else
 			UERROR("CameraStereoZed: Failed to grab images after 2 seconds!");
-#endif
 		}
 		else
 		{
@@ -34,10 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define VLP_DUAL_MODE 0x39
 #endif

-// RTABMAP_VLP16_USE_CUSTOM_SOCKET is defined (Apple only, and toggleable) in
-// LidarVLP16.h. When set, network mode uses our own single-threaded UDP receive
-// loop; otherwise start()/stop()/isRunning() delegate to pcl::VLPGrabber.
-
 namespace rtabmap {

 /** @brief Function used to check that hour assigned to timestamp in conversion is
@@ -96,17 +92,8 @@ LidarVLP16::LidarVLP16(
 	startSweepTimeHost_(0),
 	organized_(organized),
 	useHostTime_(false),
-	stampLast_(stampLast),
-	networkMode_(false),
-	port_(0),
-	receivedScan_(false)
-#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
-	,socket_(0)
-	,readThread_(0)
-	,terminate_(false)
-#endif
+	stampLast_(stampLast)
 {
-	// ipAddress_ unused in PCAP mode (default-constructed / unspecified).
 	UDEBUG("Using PCAP file \"%s\"", pcapFile.c_str());
 }
 LidarVLP16::LidarVLP16(
@@ -124,19 +111,7 @@ LidarVLP16::LidarVLP16(
 	startSweepTimeHost_(0),
 	organized_(organized),
 	useHostTime_(useHostTime),
-	stampLast_(stampLast),
-	// networkMode_ = live network capture (vs PCAP playback), on all platforms;
-	// it drives the "no data received" warning below. The custom socket path it
-	// also selects in start()/stop() is Apple-only (RTABMAP_VLP16_USE_CUSTOM_SOCKET).
-	networkMode_(true),
-	ipAddress_(ipAddress),
-	port_(port),
-	receivedScan_(false)
-#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
-	,socket_(0)
-	,readThread_(0)
-	,terminate_(false)
-#endif
+	stampLast_(stampLast)
 {
 	UDEBUG("Using network lidar with IP=%s port=%d", ipAddress.to_string().c_str(), port);
 }
@@ -154,132 +129,6 @@ void LidarVLP16::setOrganized(bool enable)
 	organized_ = true;
 }

-#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
-void LidarVLP16::start()
-{
-	if(networkMode_)
-	{
-		if(readThread_ != 0)
-		{
-			// already running
-			return;
-		}
-
-		terminate_ = false;
-		// ipAddress_ is the LOCAL interface to listen on (as in pcl::HDLGrabber),
-		// not the sensor's address. Binding to a specific local IP scopes
-		// reception to that NIC on a multi-homed host. If it is unspecified
-		// (0.0.0.0) or not a local address (e.g. the sensor's IP was entered by
-		// mistake), fall back to listening on all interfaces, like pcl::HDLGrabber.
-		try
-		{
-			boost::asio::ip::udp::endpoint endpoint(
-					ipAddress_.is_unspecified() ? boost::asio::ip::address(boost::asio::ip::address_v4::any()) : ipAddress_,
-					port_);
-			// Unlike pcl::HDLGrabber, we read and process packets in a single
-			// thread instead of a producer/consumer queue. A large receive buffer
-			// lets the kernel hold a backlog (~800 VLP16 packets here) so a brief
-			// stall in toPointClouds() doesn't drop packets.
-			const int receiveBufferSize = 1024 * 1024; // 1 MB
-			try
-			{
-				socket_ = new boost::asio::ip::udp::socket(ioContext_);
-				socket_->open(boost::asio::ip::udp::v4());
-				socket_->set_option(boost::asio::socket_base::reuse_address(true));
-				socket_->set_option(boost::asio::socket_base::receive_buffer_size(receiveBufferSize));
-				socket_->bind(endpoint);
-			}
-			catch(const std::exception & e)
-			{
-				UWARN("Could not bind VLP16 socket to local address %s (%s); "
-					"falling back to listening on all interfaces (0.0.0.0).",
-					endpoint.address().to_string().c_str(), e.what());
-				delete socket_;
-				socket_ = new boost::asio::ip::udp::socket(ioContext_);
-				socket_->open(boost::asio::ip::udp::v4());
-				socket_->set_option(boost::asio::socket_base::reuse_address(true));
-				socket_->set_option(boost::asio::socket_base::receive_buffer_size(receiveBufferSize));
-				socket_->bind(boost::asio::ip::udp::endpoint(boost::asio::ip::address_v4::any(), port_));
-			}
-		}
-		catch(const std::exception & e)
-		{
-			UERROR("Failed to bind to VLP16 UDP port %d: %s", (int)port_, e.what());
-			delete socket_;
-			socket_ = 0;
-			return;
-		}
-		receivedScan_ = false;
-		readThread_ = new std::thread(&LidarVLP16::readPackets, this);
-		return;
-	}
-	// PCAP mode: use the base grabber.
-	pcl::VLPGrabber::start();
-}
-
-void LidarVLP16::stop()
-{
-	if(networkMode_)
-	{
-		terminate_ = true;
-		if(socket_ != 0)
-		{
-			// Closing the socket unblocks receive_from in the read thread. Because
-			// that call uses the non-throwing (error_code) overload, the EBADF that
-			// BSD/macOS returns here surfaces as an error code instead of an
-			// exception, so the thread exits cleanly rather than aborting.
-			boost::system::error_code ec;
-			socket_->close(ec);
-		}
-		if(readThread_ != 0)
-		{
-			readThread_->join();
-			delete readThread_;
-			readThread_ = 0;
-		}
-		delete socket_;
-		socket_ = 0;
-		return;
-	}
-	pcl::VLPGrabber::stop();
-}
-
-bool LidarVLP16::isRunning() const
-{
-	if(networkMode_)
-	{
-		return readThread_ != 0;
-	}
-	return pcl::VLPGrabber::isRunning();
-}
-
-void LidarVLP16::readPackets()
-{
-	std::uint8_t data[1500];
-	boost::asio::ip::udp::endpoint sender;
-	while(!terminate_)
-	{
-		boost::system::error_code ec;
-		std::size_t length = socket_->receive_from(boost::asio::buffer(data, sizeof(data)), sender, 0, ec);
-		if(ec)
-		{
-			// On stop() the socket is closed under us (bad_descriptor /
-			// operation_aborted); only warn if it wasn't an expected shutdown.
-			if(!terminate_)
-			{
-				UWARN("VLP16 socket receive error: %s", ec.message().c_str());
-			}
-			break;
-		}
-		// VLP-16 data packets are 1206 bytes; ignore anything shorter.
-		if(length >= 1206)
-		{
-			toPointClouds(reinterpret_cast<HDLDataPacket*>(data));
-		}
-	}
-}
-#endif // RTABMAP_VLP16_USE_CUSTOM_SOCKET
-
 bool LidarVLP16::init(const std::string &, const std::string &)
 {
 	UDEBUG("Init lidar");
@@ -516,22 +365,8 @@ SensorData LidarVLP16::captureData(SensorCaptureInfo * info)
 		{
 			data = lastScan_;
 			lastScan_ = SensorData();
-			receivedScan_ = true;
 		}
 	}
-	else if(networkMode_ && !receivedScan_)
-	{
-		// No packet has ever arrived: most likely the sensor isn't sending data
-		// to this computer. Point the user at the configured listening endpoint.
-		UWARN("Did not receive any VLP16 data packets for the past 5 seconds. "
-			"This computer is listening on %s:%d (%s). Make sure the LiDAR is "
-			"powered on and configured to send its data to this computer's IP "
-			"address on UDP port %d (set the data destination host in the "
-			"LiDAR's own web/configuration interface).",
-			ipAddress_.to_string().c_str(), (int)port_,
-			ipAddress_.is_unspecified() ? "all local interfaces" : "this interface only",
-			(int)port_);
-	}
 	else
 	{
 		UWARN("Did not receive any scans for the past 5 seconds.");
@@ -130,12 +130,6 @@ public:

 	virtual QString getIniFilePath() const;
 	virtual QString getTmpIniFilePath() const;
-	// When running under sudo, Qt's QSettings replaces the ini with a
-	// root-owned file (write-temp + rename), so later non-root runs can no
-	// longer save preferences. Restore the invoking user's ownership (from
-	// SUDO_UID/SUDO_GID) on the config file and its directory. No-op on Windows
-	// and when not running as root. Best-effort (ignores failures).
-	static void restoreConfigOwnership(const QString & filePath);
 	void init(const QString & iniFilePath = "");
 	void setCurrentPanelToSource();
 	virtual QString getDefaultWorkingDirectory() const;
@@ -269,9 +263,6 @@ public:
 	PreferencesDialog::Src getSourceDriver() const;
 	QString getSourceDriverStr() const;
 	QString getSourceDevice() const;
-	// Non-empty warning to show before opening the selected source when init() is expected to be
-	// unusually slow; empty otherwise.
-	QString getSourceInitWarningMsg() const;
 	PreferencesDialog::Src getLidarSourceDriver() const;
 	PreferencesDialog::Src getOdomSourceDriver() const;

@@ -39,9 +39,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QTextStream>
 #include <QtCore/QDateTime>
 #include <QtCore/QSettings>
-#include <QtCore/QDir>
-#include <QtCore/QFile>
-#include <QtCore/QStandardPaths>
 #include <QThread>
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UDirectory.h>
@@ -586,33 +583,12 @@ QString DatabaseViewer::getIniFilePath() const
 	{
 		return iniFilePath_;
 	}
-#ifdef WIN32
-	// Windows: store settings in the standard per-user config location (%LOCALAPPDATA%\rtabmap)
-	// instead of a Unix-style dotfile in the home root. A fixed "rtabmap" folder (not the app name)
-	// is used so the main GUI and DatabaseViewer share the same rtabmap.ini. Other platforms keep
-	// ~/.rtabmap for consistency.
-	QString privatePath = QStandardPaths::writableLocation(QStandardPaths::GenericConfigLocation) + "/rtabmap";
-#else
 	QString privatePath = QDir::homePath() + "/.rtabmap";
-#endif
 	if(!QDir(privatePath).exists())
 	{
-		QDir().mkpath(privatePath);
+		QDir::home().mkdir(".rtabmap");
 	}
-	QString iniPath = privatePath + "/rtabmap.ini";
-#ifdef WIN32
-	// One-time migration: if there's no ini at the new location but the legacy ~/.rtabmap/rtabmap.ini
-	// exists, copy it over so users keep their existing settings.
-	if(!QFile::exists(iniPath))
-	{
-		QString legacyIni = QDir::homePath() + "/.rtabmap/rtabmap.ini";
-		if(QFile::exists(legacyIni))
-		{
-			QFile::copy(legacyIni, iniPath);
-		}
-	}
-#endif
-	return iniPath;
+	return privatePath + "/rtabmap.ini";
 }

 void DatabaseViewer::readSettings()
@@ -1689,12 +1665,12 @@ void DatabaseViewer::extractImages()
 							}
 							StereoCameraModel model(
 									cameraName,
-									data.stereoCameraModels()[i].left().imageSize(),
+									data.imageRaw().size(),
 									data.stereoCameraModels()[i].left().K_raw(),
 									data.stereoCameraModels()[i].left().D_raw(),
 									data.stereoCameraModels()[i].left().R(),
 									data.stereoCameraModels()[i].left().P(),
-									data.stereoCameraModels()[i].right().imageSize(),
+									data.rightRaw().size(),
 									data.stereoCameraModels()[i].right().K_raw(),
 									data.stereoCameraModels()[i].right().D_raw(),
 									data.stereoCameraModels()[i].right().R(),
@@ -1754,7 +1730,7 @@ void DatabaseViewer::extractImages()
 								cameraName+="_"+uNumber2Str((int)i);
 							}
 							CameraModel model(cameraName,
-									data.cameraModels()[i].imageSize(),
+									data.imageRaw().size(),
 									data.cameraModels()[i].K_raw(),
 									data.cameraModels()[i].D_raw(),
 									data.cameraModels()[i].R(),
@@ -78,8 +78,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QFileInfo>
 #include <QMessageBox>
 #include <QFileDialog>
-#include <QProgressDialog>
-#include <QLabel>
 #include <QGraphicsEllipseItem>
 #include <QDockWidget>
 #include <QtCore/QBuffer>
@@ -960,7 +958,7 @@ bool MainWindow::handleEvent(UEvent* anEvent)
 		else
 		{
 			Q_EMIT cameraInfoReceived(sensorEvent->info());
-			if (_odomThread == 0 && _sensorCapture && _sensorCapture->odomProvided() && _preferencesDialog->isRGBDMode())
+			if (_odomThread == 0 && (_sensorCapture->odomProvided()) && _preferencesDialog->isRGBDMode())
 			{
 				OdometryInfo odomInfo;
 				odomInfo.reg.covariance = sensorEvent->info().odomCovariance;
@@ -5530,10 +5528,6 @@ void MainWindow::saveConfigGUI()
 	_preferencesDialog->saveSettings();
 	this->saveFigures();
 	this->setWindowModified(false);
-
-	// If running under sudo, the above writes recreate rtabmap.ini as root;
-	// restore ownership so non-root runs can still save preferences.
-	PreferencesDialog::restoreConfigOwnership(_preferencesDialog->getIniFilePath());
 }

 void MainWindow::newDatabase()
@@ -5938,31 +5932,6 @@ void MainWindow::startDetection()
 	Camera * camera = 0;
 	Lidar * lidar = 0;

-	// Creating the sensors below opens the devices (createLidar/createCamera/createOdomSensor ->
-	// init(), a few seconds for ZED/RealSense) on the GUI thread; show a busy dialog (min==max==0
-	// => indeterminate) so the window isn't just frozen. Hidden once all sensors are created below.
-	QString startLabel = tr("Starting sensor...");
-	QString initWarn = _preferencesDialog->getSourceInitWarningMsg();
-	if(!initWarn.isEmpty())
-	{
-		startLabel += "\n\n" + initWarn;
-	}
-	QProgressDialog progress(startLabel, QString(), 0, 0, this);
-	if(!initWarn.isEmpty())
-	{
-		QLabel * wrapLabel = new QLabel(startLabel);
-		wrapLabel->setWordWrap(true);
-		progress.setLabel(wrapLabel); // QProgressDialog takes ownership
-		progress.setMinimumWidth(450);
-	}
-	progress.setWindowModality(Qt::ApplicationModal);
-	progress.setCancelButton(0);
-	progress.setMinimumDuration(0);
-	progress.setValue(0);
-	progress.show();
-	QApplication::processEvents();
-	QApplication::processEvents(); // make sure it is drawn
-
 	if(_preferencesDialog->getLidarSourceDriver() != PreferencesDialog::kSrcUndef)
 	{
 		lidar = _preferencesDialog->createLidar();
@@ -6020,8 +5989,6 @@ void MainWindow::startDetection()
 		}
 	}

-	progress.hide(); // all sensors created/opened
-
 	_sensorCapture = new SensorCaptureThread(lidar, camera, odomSensor, extrinsics, poseTimeOffset, scaleFactor, waitTime, parameters);

 	_sensorCapture->setOdomAsGroundTruth(_preferencesDialog->isOdomSensorAsGt());
@@ -6262,24 +6229,6 @@ void MainWindow::stopDetection()
 	}

 	ULOGGER_DEBUG("");
-
-	// Closing the camera runs on the GUI thread in "delete _sensorCapture" below (via
-	// ~SensorCaptureThread -> ~Camera::close()) and can block for a while - e.g. the first 2-3
-	// RealSense closes per launch stall ~20s in the Motion Module stop() (librealsense warm-up).
-	// Show a busy dialog (min==max==0 => indeterminate) so the window isn't just frozen. It is
-	// declared here so it stays visible across the joins/deletes and closes on scope exit.
-	QProgressDialog progress(tr("Stopping sensor..."), QString(), 0, 0, this);
-	if(_sensorCapture)
-	{
-		progress.setWindowModality(Qt::ApplicationModal);
-		progress.setCancelButton(0);
-		progress.setMinimumDuration(0);
-		progress.setValue(0);
-		progress.show();
-		QApplication::processEvents();
-		QApplication::processEvents(); // make sure it is drawn
-	}
-
 	// kill the processes
 	if(_imuThread)
 	{
@@ -39,20 +39,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 #include <QtCore/QSettings>
 #include <QtCore/QDir>
-#include <QtCore/QFile>
-#include <QtCore/QFileInfo>
-#include <QtCore/QStandardPaths>
 #include <QtCore/QTimer>
 #include <QUrl>

-#ifndef _WIN32
-#include <unistd.h>   // geteuid, chown
-#include <sys/types.h>
-#include <cstdlib>    // atoi, getenv
-#include <cerrno>
-#include <cstring>    // strerror
-#endif
-
 #include <QButtonGroup>
 #include <QFileDialog>
 #include <QInputDialog>
@@ -60,9 +49,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtGui/QStandardItemModel>
 #include <QMainWindow>
 #include <QProgressDialog>
-#include <QApplication>
-#include <QLabel>
-#include <functional>
 #include <QScrollBar>
 #include <QStatusBar>
 #include <QFormLayout>
@@ -451,29 +437,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 		_ui->comboBox_cameraStereo->setItemData(kSrcStereoZed - kSrcStereo, 0, Qt::UserRole - 1);
 		_ui->comboBox_odom_sensor->setItemData(2, 0, Qt::UserRole - 1);
 	}
-	else
+	else if(CameraStereoZed::sdkVersion() < 4)
 	{
-		if(CameraStereoZed::sdkVersion() < 5)
-		{
-			// SDK 4.X
-			_ui->comboBox_stereoZed_quality->setItemData(5, 0, Qt::UserRole - 1); // NEURAL_ULTRA
-			_ui->comboBox_stereoZed_resolution->setItemData(4, 0, Qt::UserRole - 1); //HD1536
-			_ui->comboBox_stereoZed_resolution->setItemData(10, 0, Qt::UserRole - 1); //XVGA
-			_ui->comboBox_stereoZed_resolution->setItemData(11, 0, Qt::UserRole - 1); //TXGA 
-		}
-		if(CameraStereoZed::sdkVersion() < 4)
-		{
-			// SDK 3.X
-			_ui->comboBox_stereoZed_quality->setItemData(3, 0, Qt::UserRole - 1); // NEURAL_LIGHT
-			_ui->comboBox_stereoZed_resolution->setItemData(1, 0, Qt::UserRole - 1); // HD4K
-			_ui->comboBox_stereoZed_resolution->setItemData(2, 0, Qt::UserRole - 1); // QHDPLUS
-			_ui->comboBox_stereoZed_resolution->setItemData(6, 0, Qt::UserRole - 1); // HD1200
-			_ui->comboBox_stereoZed_resolution->setItemData(8, 0, Qt::UserRole - 1); // SVGA
-		}
-		if(CameraStereoZed::sdkVersion() < 3)
-		{
-			_ui->comboBox_stereoZed_quality->setItemData(4, 0, Qt::UserRole - 1); // NEURAL
-		}
+		_ui->comboBox_stereoZed_resolution->setItemData(1, 0, Qt::UserRole - 1);
+		_ui->comboBox_stereoZed_resolution->setItemData(4, 0, Qt::UserRole - 1);
+		_ui->comboBox_stereoZed_resolution->setItemData(6, 0, Qt::UserRole - 1);
+		_ui->comboBox_stereoZed_quality->setItemData(3, 0, Qt::UserRole - 1);
 	}
    if (!CameraStereoTara::available())
    {
@@ -874,7 +843,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->lineEdit_cameraRGBDImages_path_rgb, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->lineEdit_cameraRGBDImages_path_depth, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_cameraImages_configForEachFrame, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->checkBox_cameraImages_multiCameraCalibration, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_cameraImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_cameraImages_syncTimeStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->doubleSpinBox_cameraRGBDImages_scale, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1016,7 +984,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->lineEdit_vlp16_pcap_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_vlp16_ip1, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_vlp16_ip2, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->spinBox_vlp16_ip3, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->spinBox_vlp16_ip2, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_vlp16_ip4, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_vlp16_port, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_vlp16_organized, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2421,7 +2389,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->lineEdit_depthai_blob_path->clear();

 		_ui->checkBox_cameraImages_configForEachFrame->setChecked(false);
-		_ui->checkBox_cameraImages_multiCameraCalibration->setChecked(false);
 		_ui->checkBox_cameraImages_timestamps->setChecked(false);
 		_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
 		_ui->lineEdit_cameraImages_timestamps->setText("");
@@ -2471,10 +2438,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)

 		_ui->lineEdit_lidar_local_transform->setText("0 0 0 0 0 0");
 		_ui->lineEdit_vlp16_pcap_path->clear();
-		_ui->spinBox_vlp16_ip1->setValue(0);
-		_ui->spinBox_vlp16_ip2->setValue(0);
-		_ui->spinBox_vlp16_ip3->setValue(0);
-		_ui->spinBox_vlp16_ip4->setValue(0);
+		_ui->spinBox_vlp16_ip1->setValue(192);
+		_ui->spinBox_vlp16_ip2->setValue(168);
+		_ui->spinBox_vlp16_ip3->setValue(1);
+		_ui->spinBox_vlp16_ip4->setValue(201);
 		_ui->spinBox_vlp16_port->setValue(2368);
 		_ui->checkBox_vlp16_organized->setChecked(false);
 		_ui->checkBox_vlp16_hostTime->setChecked(true);
@@ -2590,33 +2557,12 @@ QString PreferencesDialog::getWorkingDirectory() const

 QString PreferencesDialog::getIniFilePath() const
 {
-#ifdef WIN32
-	// Windows: store settings in the standard per-user config location (%LOCALAPPDATA%\rtabmap)
-	// instead of a Unix-style dotfile in the home root. A fixed "rtabmap" folder (not the app name)
-	// is used so the main GUI and DatabaseViewer share the same rtabmap.ini. Other platforms keep
-	// ~/.rtabmap for consistency.
-	QString privatePath = QStandardPaths::writableLocation(QStandardPaths::GenericConfigLocation) + "/rtabmap";
-#else
 	QString privatePath = QDir::homePath() + "/.rtabmap";
-#endif
 	if(!QDir(privatePath).exists())
 	{
-		QDir().mkpath(privatePath);
+		QDir::home().mkdir(".rtabmap");
 	}
-	QString iniPath = privatePath + "/rtabmap.ini";
-#ifdef WIN32
-	// One-time migration: if there's no ini at the new location but the legacy ~/.rtabmap/rtabmap.ini
-	// exists, copy it over so users keep their existing settings.
-	if(!QFile::exists(iniPath))
-	{
-		QString legacyIni = QDir::homePath() + "/.rtabmap/rtabmap.ini";
-		if(QFile::exists(legacyIni))
-		{
-			QFile::copy(legacyIni, iniPath);
-		}
-	}
-#endif
-	return iniPath;
+	return privatePath + "/rtabmap.ini";
 }

 QString PreferencesDialog::getTmpIniFilePath() const
@@ -2624,41 +2570,6 @@ QString PreferencesDialog::getTmpIniFilePath() const
 	return getIniFilePath()+".tmp";
 }

-void PreferencesDialog::restoreConfigOwnership(const QString & filePath)
-{
-#ifndef _WIN32
-	// Only relevant when the process is effectively root (e.g. launched with
-	// sudo). getenv("SUDO_UID"/"SUDO_GID") give the invoking user.
-	if(geteuid() == 0)
-	{
-		const char * sudoUid = getenv("SUDO_UID");
-		const char * sudoGid = getenv("SUDO_GID");
-		if(sudoUid && sudoGid)
-		{
-			uid_t uid = (uid_t)atoi(sudoUid);
-			gid_t gid = (gid_t)atoi(sudoGid);
-			// Restore the config file and its containing directory so the user
-			// can still write preferences without sudo afterwards.
-			if(!filePath.isEmpty() && QFile::exists(filePath))
-			{
-				if(chown(filePath.toStdString().c_str(), uid, gid) != 0)
-				{
-					UWARN("Could not restore ownership of \"%s\" to uid=%d (%s).",
-							filePath.toStdString().c_str(), (int)uid, strerror(errno));
-				}
-			}
-			QString dir = QFileInfo(filePath).absolutePath();
-			if(!dir.isEmpty())
-			{
-				chown(dir.toStdString().c_str(), uid, gid);
-			}
-		}
-	}
-#else
-	Q_UNUSED(filePath);
-#endif
-}
-
 void PreferencesDialog::loadConfigFrom()
 {
 	QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), this->getWorkingDirectory(), "*.ini");
@@ -3013,7 +2924,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt());

 	_ui->checkBox_cameraImages_configForEachFrame->setChecked(settings.value("config_each_frame",_ui->checkBox_cameraImages_configForEachFrame->isChecked()).toBool());
-	_ui->checkBox_cameraImages_multiCameraCalibration->setChecked(settings.value("multi_camera_calibration",_ui->checkBox_cameraImages_multiCameraCalibration->isChecked()).toBool());
 	_ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool());
 	_ui->checkBox_cameraImages_syncTimeStamps->setChecked(settings.value("sync_stamps",_ui->checkBox_cameraImages_syncTimeStamps->isChecked()).toBool());
 	_ui->lineEdit_cameraImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraImages_timestamps->text()).toString());
@@ -3329,9 +3239,6 @@ void PreferencesDialog::writeSettings(const QString & filePath)
 	uInsert(_parameters, _modifiedParameters); // update cached parameters
 	_modifiedParameters.clear();
 	_obsoletePanels = kPanelDummy;
-
-	// Keep the ini writable by the invoking user even if we are running as root.
-	restoreConfigOwnership(filePath.isEmpty() ? getIniFilePath() : filePath);
 }

 void PreferencesDialog::writeGuiSettings(const QString & filePath) const
@@ -3639,7 +3546,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("maxFrames", 		_ui->source_images_spinBox_maxFrames->value());
 	settings.setValue("bayerMode", 	    _ui->comboBox_cameraImages_bayerMode->currentIndex());
 	settings.setValue("config_each_frame", _ui->checkBox_cameraImages_configForEachFrame->isChecked());
-	settings.setValue("multi_camera_calibration", _ui->checkBox_cameraImages_multiCameraCalibration->isChecked());
 	settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked());
 	settings.setValue("sync_stamps",    _ui->checkBox_cameraImages_syncTimeStamps->isChecked());
 	settings.setValue("stamps",              _ui->lineEdit_cameraImages_timestamps->text());
@@ -4716,12 +4622,7 @@ void PreferencesDialog::selectCalibrationPath()
 	{
 		dir = getWorkingDirectory()+"/camera_info/"+dir;
 	}
-#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && CV_MAJOR_VERSION < 2)
-	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Calibration file (*.yaml *.xml)"));
-#else
-	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Calibration file (*.yaml *.xml *.json)"));
-#endif
-	
+	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Calibration file (*.yaml)"));
 	if(path.size())
 	{
 		_ui->lineEdit_calibrationFile->setText(path);
@@ -6725,16 +6626,6 @@ QString PreferencesDialog::getSourceDriverStr() const
 	return "";
 }

-QString PreferencesDialog::getSourceInitWarningMsg() const
-{
-	if(getSourceDriver() == kSrcStereoZed)
-	{
-		return QString::fromStdString(
-			CameraStereoZed::getNeuralModelWarning(_ui->comboBox_stereoZed_quality->currentIndex()));
-	}
-	return QString();
-}
-
 QString PreferencesDialog::getSourceDevice() const
 {
 	return _ui->lineEdit_sourceDevice->text();
@@ -6920,11 +6811,11 @@ double PreferencesDialog::getSourceScanForceGroundNormalsUp() const
 Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 {
 	return createCamera(
-		this->getSourceDriver(),
-		_ui->lineEdit_sourceDevice->text(),
-		_ui->lineEdit_calibrationFile->text(),
-		useRawImages,
-		useColor,
+		this->getSourceDriver(), 
+		_ui->lineEdit_sourceDevice->text(), 
+		_ui->lineEdit_calibrationFile->text(), 
+		useRawImages, 
+		useColor, 
 		false,
 		false);
 }
@@ -7178,7 +7069,6 @@ Camera * PreferencesDialog::createCamera(
 				_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
 				_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
 		((CameraRGBDImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked());
-		((CameraRGBDImages*)camera)->setMultiCameraCalibration(_ui->checkBox_cameraImages_multiCameraCalibration->isChecked());
 	}
 	else if(driver == kSrcDC1394)
 	{
@@ -7225,7 +7115,6 @@ Camera * PreferencesDialog::createCamera(
 				_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
 				_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
 		((CameraStereoImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked());
-		((CameraStereoImages*)camera)->setMultiCameraCalibration(_ui->checkBox_cameraImages_multiCameraCalibration->isChecked());
 		((CameraStereoImages*)camera)->setRightGrayScale(_ui->checkBox_stereo_rightGrayScale->isChecked());
 	}
 	else if (driver == kSrcStereoUsb)
@@ -7430,8 +7319,7 @@ Camera * PreferencesDialog::createCamera(
 				_ui->checkBox_cameraImages_timestamps->isChecked(),
 				_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
 				_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
-		((CameraImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked());
-		((CameraImages*)camera)->setMultiCameraCalibration(_ui->checkBox_cameraImages_multiCameraCalibration->isChecked());
+		((CameraRGBDImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked());
 	}
 	else if(driver == kSrcDatabase)
 	{
@@ -7828,30 +7716,7 @@ void PreferencesDialog::setSLAMMode(bool enabled)

 void PreferencesDialog::testOdometry()
 {
-	QString startLabel = tr("Starting camera...");
-	QString initWarn = getSourceInitWarningMsg();
-	if(!initWarn.isEmpty())
-	{
-		startLabel += "\n\n" + initWarn;
-	}
-	QProgressDialog progress(startLabel, QString(), 0, 0, this);
-	if(!initWarn.isEmpty())
-	{
-		QLabel * wrapLabel = new QLabel(startLabel);
-		wrapLabel->setWordWrap(true);
-		progress.setLabel(wrapLabel); // QProgressDialog takes ownership
-		progress.setMinimumWidth(450);
-	}
-	progress.setWindowModality(Qt::ApplicationModal);
-	progress.setCancelButton(0);
-	progress.setMinimumDuration(0);
-	progress.setValue(0);
-	progress.show();
-	QApplication::processEvents();
-	QApplication::processEvents(); // make sure it is drawn
-
 	Camera * camera = this->createCamera();
-	progress.hide();
 	if(!camera)
 	{
 		return;
@@ -7899,13 +7764,12 @@ void PreferencesDialog::testOdometry()
 			_ui->odom_dataBufferSize->value());
 	odomThread.registerToEventsManager();

-	// parent = 0 (not 'this'): see testCamera() - avoids the nested-modality crash.
 	OdometryViewer * odomViewer = new OdometryViewer(10,
 					_ui->spinBox_decimation_odom->value(),
 					0.0f,
 					_ui->doubleSpinBox_maxDepth_odom->value(),
 					this->getOdomQualityWarnThr(),
-					0,
+					this,
 					this->getAllParameters());
 	odomViewer->setWindowTitle(tr("Odometry viewer"));
 	odomViewer->resize(1280, 480+QPushButton().minimumHeight());
@@ -7967,79 +7831,25 @@ void PreferencesDialog::testOdometry()
 	}

 	odomViewer->exec();
-	UDEBUG("Dialog closed, stopping sensor...");
-
-	// Tear down the pipes first so no more events are routed to the threads/viewer being
-	// destroyed, then stop the threads, then delete the viewer. This avoids delivering
-	// events to a handler that is being torn down.
-	UEventsManager::removePipe(&cameraThread, &odomThread, "SensorEvent");
-	if(imuThread)
-	{
-		UEventsManager::removePipe(imuThread, &odomThread, "IMUEvent");
-	}
-	UEventsManager::removePipe(&odomThread, odomViewer, "OdometryEvent");
-	UEventsManager::removePipe(odomViewer, &odomThread, "OdometryResetEvent");
+	delete odomViewer;

 	if(imuThread)
 	{
 		imuThread->join(true);
-	}
-
-	// Reuse the same dialog for the close. The device close() runs in cameraThread's destructor
-	// at function scope end (not in join()), so 'progress' stays visible across it. On Windows
-	// the first 2-3 RealSense closes per launch stall ~20s in the Motion Module stop().
-	progress.setLabelText(tr("Closing camera..."));
-	progress.show();
-	QApplication::processEvents();
-	QApplication::processEvents(); // make sure it is drawn
-	cameraThread.join(true);
-	odomThread.join(true);
-
-	// deleteLater() (not delete): see testCamera() - avoids a dangling OpenGL platform
-	// window that crashes in QWindowsWindow::alertWindow when Preferences later closes.
-	odomViewer->deleteLater();
-	if(imuThread)
-	{
 		delete imuThread;
 	}
+	cameraThread.join(true);
+	odomThread.join(true);
 }

 void PreferencesDialog::testCamera()
 {
-	// Not parented to 'this': the Preferences dialog is itself application-modal, and making
-	// the viewer a modal *child* of it (nested modality) with an OpenGL/VTK native window
-	// crashes Qt (QWindowsWindow::alertWindow, this==nullptr) when Preferences later closes.
-	// exec() below still makes the viewer application-modal, so interaction stays blocked.
-	CameraViewer * window = new CameraViewer(nullptr, this->getAllParameters());
+	CameraViewer * window = new CameraViewer(this, this->getAllParameters());
 	window->setWindowTitle(tr("Camera viewer"));
 	window->resize(1280, 480+QPushButton().minimumHeight());
 	window->registerToEventsManager();

-	QString startLabel = tr("Starting camera...");
-	QString initWarn = getSourceInitWarningMsg();
-	if(!initWarn.isEmpty())
-	{
-		startLabel += "\n\n" + initWarn;
-	}
-	QProgressDialog progress(startLabel, QString(), 0, 0, this);
-	if(!initWarn.isEmpty())
-	{
-		QLabel * wrapLabel = new QLabel(startLabel);
-		wrapLabel->setWordWrap(true);
-		progress.setLabel(wrapLabel); // QProgressDialog takes ownership
-		progress.setMinimumWidth(450);
-	}
-	progress.setWindowModality(Qt::ApplicationModal);
-	progress.setCancelButton(0);
-	progress.setMinimumDuration(0);
-	progress.setValue(0);
-	progress.show();
-	QApplication::processEvents();
-	QApplication::processEvents(); // make sure it is drawn
-
-	// createCamera() init()s the device on the GUI thread (required by ZED) and takes a few seconds.
 	Camera * camera = this->createCamera();
-	progress.hide();
 	if(camera)
 	{
 		SensorCaptureThread cameraThread(camera, this->getAllParameters());
@@ -8084,26 +7894,12 @@ void PreferencesDialog::testCamera()

 		cameraThread.start();
 		window->exec();
-		UDEBUG("Dialog closed, stopping sensor...");
-		UEventsManager::removePipe(&cameraThread, window, "SensorEvent");
-
-		// Reuse the same dialog for the close. The device close() runs in cameraThread's
-		// destructor at scope end (not in join()), so 'progress' - declared in the outer scope -
-		// stays visible across it. On Windows the first 2-3 RealSense closes per launch stall
-		// ~20s in the Motion Module stop() (librealsense warm-up); this keeps the user informed.
-		progress.setLabelText(tr("Closing camera..."));
-		progress.show();
-		QApplication::processEvents();
-		QApplication::processEvents(); // make sure it is drawn
-		cameraThread.join(true); // cameraThread's destructor (scope end) closes the device
-		// deleteLater() (not delete): defer destruction to the event loop so Qt finishes
-		// tearing down the OpenGL widget's context and window-proc subclass and drains
-		// pending activation messages first.
-		window->deleteLater();
+		delete window;
+		cameraThread.join(true);
 	}
 	else
 	{
-		window->deleteLater();
+		delete window;
 	}
 }

@@ -8569,25 +8365,14 @@ void PreferencesDialog::calibrateOdomSensorExtrinsics()

 void PreferencesDialog::testLidar()
 {
-	// Not parented to 'this': see testCamera() - avoids the nested-modality crash.
-	CameraViewer * window = new CameraViewer(nullptr, this->getAllParameters());
+	CameraViewer * window = new CameraViewer(this, this->getAllParameters());
 	window->setWindowTitle(tr("Lidar viewer"));
 	window->setWindowFlags(Qt::Window);
 	window->resize(1280, 480+QPushButton().minimumHeight());
 	window->registerToEventsManager();
 	window->setDecimation(1);

-	QProgressDialog progress(tr("Starting lidar..."), QString(), 0, 0, this);
-	progress.setWindowModality(Qt::ApplicationModal);
-	progress.setCancelButton(0);
-	progress.setMinimumDuration(0);
-	progress.setValue(0);
-	progress.show();
-	QApplication::processEvents();
-	QApplication::processEvents(); // make sure it is drawn
-
 	Lidar * lidar = this->createLidar();
-	progress.hide();
 	if(lidar)
 	{
 		SensorCaptureThread lidarThread(lidar, this->getAllParameters());
@@ -8606,24 +8391,12 @@ void PreferencesDialog::testLidar()

 		lidarThread.start();
 		window->exec();
-		UDEBUG("Dialog closed, stopping sensor...");
-		UEventsManager::removePipe(&lidarThread, window, "SensorEvent");
-
-		// Reuse the same dialog for the close. The device close() runs in lidarThread's
-		// destructor at scope end (not in join()), so 'progress' - declared in the outer
-		// scope - stays visible across it.
-		progress.setLabelText(tr("Closing sensor..."));
-		progress.show();
-		QApplication::processEvents();
-		QApplication::processEvents(); // make sure it is drawn
-		lidarThread.join(true); // lidarThread's destructor (scope end) closes the device
-		// deleteLater() (not delete): see testCamera() - avoids a dangling OpenGL platform
-		// window that crashes in QWindowsWindow::alertWindow when Preferences later closes.
-		window->deleteLater();
+		delete window;
+		lidarThread.join(true);
 	}
 	else
 	{
-		window->deleteLater();
+		delete window;
 	}
 }

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>rtabmap</name>
-  <version>0.23.8</version>
+  <version>0.23.7</version>
  <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -18,7 +18,7 @@
  <depend>gtsam</depend>
  <!-- <depend>libopenni2-dev</depend> --> <!-- not available on Jessie -->
  <depend>libpcl-all-dev</depend> <!--  include libvtk-qt -->
-  <depend>libpointmatcher</depend> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->
+  <!-- <depend>libpointmatcher</depend> Not available on lyrical--> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->
  <!-- <depend>libproj-dev</depend> needed due to error in vtk6 (kinetic)-->
  <depend>libsqlite3-dev</depend>
  <depend>liboctomap-dev</depend>
@@ -1,21 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e671b87..2e2538e 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -121,7 +121,7 @@ set( NANOFLANN_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE )
- set( NANOFLANN_BUILD_TESTS OFF CACHE BOOL "" FORCE )
- add_subdirectory( extern/nanoflann EXCLUDE_FROM_ALL )
- target_link_libraries( CCCoreLib
-	PUBLIC
-+	PRIVATE
- 		nanoflann::nanoflann
- )
- 
-@@ -236,6 +236,7 @@ install(
- 		CCCoreLib
- 	EXPORT
- 		CCCoreLib-targets
-+	RUNTIME DESTINATION bin
- 	LIBRARY DESTINATION lib
- 	ARCHIVE DESTINATION lib
- 	INCLUDES DESTINATION include
@@ -1,102 +0,0 @@
-diff --git a/freenect2.cmake.in b/freenect2.cmake.in
-index 05df1af..2195bb4 100644
--- a/freenect2.cmake.in
-+++ b/freenect2.cmake.in
-@@ -1,10 +1,15 @@
-+# Resolve paths relative to this config file (<prefix>/lib/cmake/freenect2/) so the
-+# install tree stays relocatable (e.g. when shipped/unzipped as a prebuilt bundle).
-+get_filename_component(_freenect2_prefix "${CMAKE_CURRENT_LIST_DIR}" DIRECTORY)
-+get_filename_component(_freenect2_prefix "${_freenect2_prefix}" DIRECTORY)
-+get_filename_component(_freenect2_prefix "${_freenect2_prefix}" DIRECTORY)
- FIND_LIBRARY(freenect2_LIBRARY freenect2
-    PATHS @CMAKE_INSTALL_PREFIX@/lib
-+    PATHS "${_freenect2_prefix}/lib"
-     NO_DEFAULT_PATH
- )
- SET(freenect2_LIBRARIES ${freenect2_LIBRARY} @LIBFREENECT2_THREADING_LIBRARIES@)
- FIND_PATH(freenect2_INCLUDE_DIR @PROJECT_NAME@/libfreenect2.hpp
-    PATHS @CMAKE_INSTALL_PREFIX@/include
-+    PATHS "${_freenect2_prefix}/include"
-     NO_DEFAULT_PATH
- )
- SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR})
-diff --git a/src/cuda_depth_packet_processor.cu b/src/cuda_depth_packet_processor.cu
-index 7ca5974..95c8e11 100644
--- a/src/cuda_depth_packet_processor.cu
-+++ b/src/cuda_depth_packet_processor.cu
-@@ -779,12 +779,7 @@ public:
- 
-       cudaDeviceProp prop;
-       CHECK_CUDA(cudaGetDeviceProperties(&prop, i));
-      LOG_INFO << "device " << i << ": " << prop.name << " @ " << (prop.clockRate / 1000) << "MHz Memory " << (prop.totalGlobalMem >> 20) << "MB";
-
-      if (prop.computeMode == cudaComputeModeProhibited) {
-        LOG_INFO << " Compute Mode Prohibited";
-        continue;
-      }
-+      LOG_INFO << "device " << i << ": " << prop.name << " Memory " << (prop.totalGlobalMem >> 20) << "MB";
- 
-       if (prop.major < 1) {
-         LOG_INFO << " does not support CUDA";
-diff --git a/src/cuda_kde_depth_packet_processor.cu b/src/cuda_kde_depth_packet_processor.cu
-index 0a16f55..bca00cc 100644
--- a/src/cuda_kde_depth_packet_processor.cu
-+++ b/src/cuda_kde_depth_packet_processor.cu
-@@ -1192,12 +1192,7 @@ public:
- 
-       cudaDeviceProp prop;
-       CHECK_CUDA(cudaGetDeviceProperties(&prop, i));
-      LOG_INFO << "device " << i << ": " << prop.name << " @ " << (prop.clockRate / 1000) << "MHz Memory " << (prop.totalGlobalMem >> 20) << "MB";
-
-      if (prop.computeMode == cudaComputeModeProhibited) {
-        LOG_INFO << " Compute Mode Prohibited";
-        continue;
-      }
-+      LOG_INFO << "device " << i << ": " << prop.name << " Memory " << (prop.totalGlobalMem >> 20) << "MB";
- 
-       if (prop.major < 1) {
-         LOG_INFO << " does not support CUDA";
-diff --git a/src/opencl_depth_packet_processor.cpp b/src/opencl_depth_packet_processor.cpp
-index d8db14d..51d0883 100644
--- a/src/opencl_depth_packet_processor.cpp
-+++ b/src/opencl_depth_packet_processor.cpp
-@@ -251,7 +251,7 @@ public:
-     newIrFrame();
-     newDepthFrame();
- 
-    const int CL_ICDL_VERSION = 2;
-+    const int clIcdlVersion = 2;
-     typedef cl_int (*icdloader_func)(int, size_t, void*, size_t*);
- #ifdef _MSC_VER
- #pragma warning(push)
-@@ -269,7 +269,7 @@ public:
-     if (clGetICDLoaderInfoOCLICD != NULL)
-     {
-       char buf[16];
-      if (clGetICDLoaderInfoOCLICD(CL_ICDL_VERSION, sizeof(buf), buf, NULL) == CL_SUCCESS)
-+      if (clGetICDLoaderInfoOCLICD(clIcdlVersion, sizeof(buf), buf, NULL) == CL_SUCCESS)
-       {
-         if (strcmp(buf, "2.2.4") < 0 && strlen(buf) <= 5)
-           LOG_WARNING << "Your ocl-icd has deadlock bugs. Update to 2.2.4+ is recommended.";
-diff --git a/src/opencl_kde_depth_packet_processor.cpp b/src/opencl_kde_depth_packet_processor.cpp
-index 98dbdff..97fbc6d 100644
--- a/src/opencl_kde_depth_packet_processor.cpp
-+++ b/src/opencl_kde_depth_packet_processor.cpp
-@@ -259,7 +259,7 @@ public:
-     newIrFrame();
-     newDepthFrame();
- 
-    const int CL_ICDL_VERSION = 2;
-+    const int clIcdlVersion = 2;
-     typedef cl_int (*icdloader_func)(int, size_t, void*, size_t*);
- #ifdef _MSC_VER
- #pragma warning(push)
-@@ -277,7 +277,7 @@ public:
-     if (clGetICDLoaderInfoOCLICD != NULL)
-     {
-       char buf[16];
-      if (clGetICDLoaderInfoOCLICD(CL_ICDL_VERSION, sizeof(buf), buf, NULL) == CL_SUCCESS)
-+      if (clGetICDLoaderInfoOCLICD(clIcdlVersion, sizeof(buf), buf, NULL) == CL_SUCCESS)
-       {
-         if (strcmp(buf, "2.2.4") < 0)
-           LOG_WARNING << "Your ocl-icd has deadlock bugs. Update to 2.2.4+ is recommended.";
@@ -1,29 +0,0 @@
-diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
-index 261f2cda..644e068f 100644
--- a/src/CMakeLists.txt
-+++ b/src/CMakeLists.txt
-@@ -92,17 +92,20 @@ if(OB_IS_MAIN_PROJECT)
-     )
- 
-     install(FILES "${CMAKE_CURRENT_BINARY_DIR}/generated/Export.h" DESTINATION include/libobsensor/h)
-    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib)
-+    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib/cmake/${OB_SDK_LIB_NAME})
- 
-     include(CMakePackageConfigHelpers)
-+    # Name the version file <pkg>ConfigVersion.cmake (not <pkg>Version.cmake) and
-+    # install it next to the config in lib/cmake/<pkg>, so find_package(OrbbecSDK)
-+    # discovers it in config mode and reads its version.
-     write_basic_package_version_file(
-        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
-+        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
-         VERSION "${PROJECT_VERSION}"
-         COMPATIBILITY SameMajorVersion
-     )
-     install(
-        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
-        DESTINATION lib
-+        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
-+        DESTINATION lib/cmake/${OB_SDK_LIB_NAME}
-     )
-     if(MSVC)
-         install(FILES $<TARGET_PDB_FILE:${OB_SDK_LIB_NAME}> DESTINATION bin OPTIONAL)
@@ -48,11 +48,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <stdio.h>
 #include <signal.h>
 #include <QApplication>
-#include <QSurfaceFormat>
-#include <vtkVersionMacros.h>
-#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
-#include <QVTKRenderWidget.h>
-#endif

 void showUsage(const char * executableName)
 {
@@ -97,7 +92,7 @@ void sighandler(int sig)
 int main(int argc, char * argv[])
 {
 	ULogger::setType(ULogger::kTypeConsole);
-	ULogger::setLevel(ULogger::kDebug);
+	ULogger::setLevel(ULogger::kInfo);
 	//ULogger::setPrintTime(false);
 	//ULogger::setPrintWhere(false);

@@ -173,6 +168,7 @@ int main(int argc, char * argv[])
 			}
 			if (strcmp(argv[i], "-pcl") == 0)
 			{
+				++i;
 				usePCLViz = true;
 				continue;
 			}
@@ -272,7 +268,7 @@ int main(int argc, char * argv[])
 			UERROR("Not built with ZED sdk support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraStereoZed(deviceId.empty()?0:uStr2Int(deviceId), -1, 1, 0, 100, false, rate);
+		camera = new rtabmap::CameraStereoZed(deviceId.empty()?0:uStr2Int(deviceId), -1, 1, 100, false, rate);
 	}
 	else if (driver == 9)
 	{
@@ -374,18 +370,6 @@ int main(int argc, char * argv[])
 		exit(1);
 	}

-#ifdef __APPLE__
-	if(usePCLViz)
-	{
-		// pcl::visualization::CloudViewer creates its render window on its own
-		// background thread, but macOS only allows NSWindow creation on the main
-		// thread, so it aborts. Fall back to the default (Qt) viewer.
-		printf("-pcl is not supported on macOS (pcl::visualization::CloudViewer creates its "
-			   "window on a background thread, which macOS forbids). Using the default viewer instead.\n");
-		usePCLViz = false;
-	}
-#endif
-
 	if(usePCLViz)
 	{
 		rtabmap::SensorData data = camera->takeData();
@@ -501,14 +485,6 @@ int main(int argc, char * argv[])
 	}
 	else // Use our own visualizer
 	{
-#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
-		// Needed to ensure the appropriate OpenGL context is created for VTK
-		// rendering (QVTKOpenGLNativeWidget). Without it the embedded VTK widget
-		// gets an incompatible context and VTK calls a null GL function pointer
-		// (crash in vtkOpenGLVertexArrayObject::Bind on first paint). Must be set
-		// before QApplication is constructed.
-		QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
-#endif
 		QApplication app(argc, argv);

 		rtabmap::CameraViewer cameraViewer;
@@ -523,6 +499,5 @@ int main(int argc, char * argv[])
 		cameraViewer.exec();
 		cameraThread.join(true);
 	}
-	printf("Exiting cleanly.\n");
 	return 0;
 }
@@ -53,12 +53,6 @@ int main(int argc, char * argv[])
    QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
 #endif

-	// Recommended by VTK when using QVTKOpenGLNativeWidget (a QOpenGLWidget): let all VTK
-	// render widgets share a single OpenGL context, which is needed for correct rendering
-	// when render widgets live in / move across multiple top-level windows. Must be set
-	// before QApplication is constructed.
-	QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
-
 #ifdef RTABMAP_PYTHON
 	rtabmap::PythonInterface pythonInterface;
 #endif
@@ -58,7 +58,7 @@ void showUsage()
 {
 	printf("\nUsage:\n"
 			"rtabmap-lidar_viewer IP PORT driver\n"
-			"  driver       Driver number to use: 0=VLP16 (default IP and port are 0.0.0.0 2368)\n");
+			"  driver       Driver number to use: 0=VLP16 (default IP and port are 192.168.1.201 2368)\n");
 	exit(1);
 }

@@ -404,16 +404,13 @@ int main (int argc, char * argv[])
 		{
 			printf("The camera is not calibrated! You should calibrate the camera first.\n");
 			delete camera;
-			return 1;
 		}
 	}
 	else
 	{
 		printf("Failed to initialize the camera! Please select another driver (see \"--help\").\n");
 		delete camera;
-		return 1;
 	}

-	printf("Exiting cleanly.\n");
 	return 0;
 }
@@ -9,13 +9,10 @@ ADD_EXECUTABLE(report main.cpp)
  
 TARGET_LINK_LIBRARIES(report ${LIBRARIES})

-SET_TARGET_PROPERTIES(report PROPERTIES
+SET_TARGET_PROPERTIES(report PROPERTIES 
    OUTPUT_NAME ${PROJECT_PREFIX}-report
+    COMPILE_DEFINITIONS "WITH_QT"
 )
-
-IF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
-    SET_TARGET_PROPERTIES(report PROPERTIES COMPILE_DEFINITIONS "WITH_QT")
-ENDIF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
    
 INSTALL(TARGETS report
 	RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
@@ -139,13 +139,10 @@ protected:
 			fileToClear.close();
 		}

-        // Open in binary mode: the log formatter already emits "\r\n" line endings explicitly.
-        // On Windows, text mode ("a") would translate the "\n" of that "\r\n" into "\r\n" again,
-        // producing "\r\r\n" on disk - i.e. an extra blank line between entries.
 #ifdef _MSC_VER
-        fopen_s(&fout_, fileName_.c_str(), "ab");
+        fopen_s(&fout_, fileName_.c_str(), "a");
 #else
-        fout_ = fopen(fileName_.c_str(), "ab");
+        fout_ = fopen(fileName_.c_str(), "a");
 #endif

        if(!fout_) {
@@ -113,18 +113,6 @@
        "kinectsdk2"
      ]
    },
-    "libfreenect2-deps": {
-      "description": "Build libfreenect2's dependencies",
-      "dependencies": [
-        "libusb",
-        "libjpeg-turbo",
-        "glfw3",
-        {
-          "name": "pkgconf",
-          "host": true
-        }
-      ]
-    },
    "libpointmatcher-deps": {
      "description": "Build libpointmatcher's dependencies",
      "dependencies": [
Author	SHA1	Message	Date
matlabbe	a7073ccd85	fixing deps	2026-06-21 15:09:35 -07:00
matlabbe	0eeed50ab4	only build for lyrical in its devel branch	2026-06-21 12:52:54 -07:00