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Hi,

Make sure to do a clean build of rtabmap after OpenCV (with nonfree) is installed (step 2 here):

$ cd rtabmap/build
$ rm -r *
$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..
$ make
$ make install

When you do $ cmake .., make sure you see in the info at the end that OpenCV version with nonfree is detected.

cheers

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