diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake
index 548f5e3bc7..912b48b432 100644
--- a/ports/rtabmap/portfile.cmake
+++ b/ports/rtabmap/portfile.cmake
@@ -23,8 +23,11 @@ vcpkg_cmake_configure(
         -DBUILD_APP=OFF
         -DBUILD_EXAMPLES=OFF
         -DWITH_QT=OFF
-        -DWITH_SUPERPOINT_TORCH=OFF
-        -DWITH_PYMATCHER=OFF
+        -DWITH_ORB_OCTREE=OFF
+        -DWITH_TORCH=OFF
+        -DWITH_PYTHON=OFF
+        -DWITH_PYTHON_THREADING=OFF
+        -DWITH_PDAL=OFF
         -DWITH_FREENECT=OFF
         -DWITH_FREENECT2=OFF
         -DWITH_K4W2=OFF
@@ -37,13 +40,16 @@ vcpkg_cmake_configure(
         -DWITH_VERTIGO=OFF
         -DWITH_CVSBA=OFF
         -DWITH_POINTMATCHER=OFF
+        -DWITH_CCCORELIB=OFF
         -DWITH_LOAM=OFF
         -DWITH_FLYCAPTURE2=OFF
         -DWITH_ZED=OFF
+        -DWITH_ZEDOC=OFF
         -DWITH_REALSENSE=OFF
         -DWITH_REALSENSE_SLAM=OFF
         -DWITH_REALSENSE2=OFF
         -DWITH_MYNTEYE=OFF
+        -DWITH_DEPTHAI=OFF
         -DWITH_OCTOMAP=OFF
         -DWITH_CPUTSDF=OFF
         -DWITH_OPENCHISEL=OFF
@@ -51,10 +57,11 @@ vcpkg_cmake_configure(
         -DWITH_FOVIS=OFF
         -DWITH_VISO2=OFF
         -DWITH_DVO=OFF
-        -DWITH_ORB_SLAM2=OFF
         -DWITH_OKVIS=OFF
         -DWITH_MSCKF_VIO=OFF
         -DWITH_VINS=OFF
+        -DWITH_OPENVINS=OFF
+        -DWITH_MADGWICK=OFF
         -DWITH_FASTCV=OFF
 )
 
diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json
index d0e2fc7fca..c675941983 100644
--- a/ports/rtabmap/vcpkg.json
+++ b/ports/rtabmap/vcpkg.json
@@ -1,7 +1,7 @@
 {
   "name": "rtabmap",
-  "version-string": "0.20.13",
-  "port-version": 1,
+  "version": "0.20.13",
+  "port-version": 2,
   "description": "Real-Time Appearance-Based Mapping",
   "homepage": "https://introlab.github.io/rtabmap/",
   "supports": "windows & !static",
diff --git a/versions/baseline.json b/versions/baseline.json
index c517635f77..209b8701d6 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -6126,7 +6126,7 @@
     },
     "rtabmap": {
       "baseline": "0.20.13",
-      "port-version": 1
+      "port-version": 2
     },
     "rtaudio": {
       "baseline": "2021-11-16",
diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json
index d9d7bb4fb8..0279946816 100644
--- a/versions/r-/rtabmap.json
+++ b/versions/r-/rtabmap.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "3dc228c0e837f979396a930bc24e8cf92f6190e3",
+      "version": "0.20.13",
+      "port-version": 2
+    },
     {
       "git-tree": "93a792dbedcec5e900509396ebbe4461cde51320",
       "version-string": "0.20.13",