matlabbe

- On ROS (rtabmap and odometry nodes): working - Reprocess tool: working - Matching tool: working - standalone: freezing

Step 3 from https://github.com/introlab/rtabmap_ros#build-from-source

Superglue should work for loop closure detection, not odometry (unless you choose F2F odometry). Here a small comparison between different approaches. - Default parameters (GFTT features for odom and loop...

@GVMCOTESA what is your base image? Is it the one from nvidia like in the frontiers [dockerfile](https://github.com/introlab/rtabmap/blob/master/docker/frontiers2022/Dockerfile)?

I did it with native installed libraries. For docker, you may use frontiers [dockerfile](https://github.com/introlab/rtabmap/blob/master/docker/frontiers2022/Dockerfile). If you want to go ROS, I also recently created an [image](https://github.com/introlab/rtabmap_ros/blob/master/docker/noetic/superpoint/Dockerfile) for rtabmap_ros.

The matching tool is not `rtabmap-databaseViewer`. For database viewer, it may work just one time, then seg fault the second time (when trying to re-initialize the python classes).

Can you share the database?

Regarding the app freezing on superglue initialization (https://github.com/introlab/rtabmap/issues/896#issuecomment-1257078993). Here is a gdb log when it happens: ``` #0 0x00007ffff078f1f1 in PyThreadState_Clear (tstate=0x7fff0c6dcb00) at ../Python/pystate.c:764 #1 0x00007ffefd33794d in pybind11::gil_scoped_acquire::dec_ref() () at...

Fixed in https://github.com/introlab/rtabmap/commit/f1cd819673804e0c5beaad1f5b316b12c4dcf140

See https://github.com/introlab/rtabmap/issues/1221#issuecomment-1953191870