Help With rtabmap

[RikisuT]

OS : Ubuntu 22.04 LTS GPU : 1650 Mobile CUDA : 12.8

I have built Flann VTK PCL OPENCV CudaSift RTABMAP all with CUDA support I get this error when i run it with intel Realsense D435i

rtabmap
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
Program started...
[ WARN] (2025-03-25 08:58:05.199) Odometry.cpp:324::process() Updated initial pose from xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 to xyz=0.000000,0.000000,0.000000 rpy=3.075686,-1.315460,-0.000000 with IMU orientation
double free or corruption (out)
Aborted (core dumped)

And when I launch the example file the points dissapear

[matlabbe]

To debug this, start rtabmap in gdb:

sudo apt install gdb
gdb --args rtabmap
# type "run"

You can also set Logger level to Debug in Preferences->Logging. Then start mapping. When it crashes, type bt (for backtrace) and copy the log here.

Reference: https://github.com/introlab/rtabmap_ros/issues/28