Odometry Process Error about rtabmap

[matlabbe]

It tries to allocate 21 TB of RAM! From where rgb_image and depth_image come from? There could be a memory issue if upstream rgb_image is being modified while odometry tries to process it. You can do:

rtabmap::SensorData sensor_data(rgb_image.clone(), depth_image.clone(), camModels[0], idx, this->now().seconds());

to make sure nobody is modifying the images. Otherwise, you can enable the logger to see more info, add this at the beginning of your app:

#include <rtabmap/utilite/ULogger.h>
...
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kDebug);

[pranav-mp]

I found the error. I was passing an RGB image instead of a Grayscale/BGR image. The error was occurring at a cv::cvtColor() function