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Installation

Prerequisites

  • Python 3.12+
  • CUDA-capable GPU (tested on RTX 3080, RTX 5090)
  • RGB-D camera (Intel RealSense D435i tested)
  • SLAM system providing poses (RTAB-Map, ORB-SLAM3)

WSL2 Users

Tested on WSL2 Ubuntu 22.04 with RTAB-Map. WSL2 has USB passthrough limitations — you may need usbipd-win for camera access.

Install RTSM

git clone https://github.com/calabi-inc/rtsm.git
cd rtsm
# Install dependencies
pip install -r requirements.txt

# Install RTSM in editable mode
pip install -e .

Download Models

FastSAM Weights

mkdir -p model_store/fastsam
# Download FastSAM-x.pt to model_store/fastsam/

Download from: FastSAM Releases

CLIP Weights

CLIP weights are auto-downloaded on first run, or you can pre-fetch:

python scripts/fetch_clip.py

Verify Installation

python -c "import rtsm; print(rtsm.__version__)"

Next Steps