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Did you build ORB_SLAM2 from original repo without any changes? If so, you may have to apply this patch to disable -march=native and rebuild ORB_SLAM2. If you installed PCL from binaries, normally rtabmap won't be built with -march=native, so when we use a dependency using it, rtabmap will crash when using Eigen functions. If the patch doesn't help, you may add --udebug to odom_args to see more logs.

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