Re: how to config IDE for debugging rtabmap application
I use Eclipse C++ for development. There is already an Eclipse project in the rtabmap and rtabmap_ros git repositories. Just open Eclipse, File->Import... -> "Existing project...". You should call cmake in a console to setup the makefiles before building with Eclipse. However, I don't use a debugger to debug, only output logs because of the ROS development and that rtabmap has some threads (camera, core and gui). You may see many UDEBUG() in the code. They are shown when the logger level is set to Debug (in the Preferences menu -> General Settings -> Logging -> Logger level).
#include <rtabmap/utilite/ULogger.h> ...
ULogger::setLevel(ULogger::kDebug); // (can be called anywhere)
There are also UINFO, UWARN, UERROR, UFATAL, UASSERT... working like a printf(), they have the same purpose as ROS_INFO, ROS_WARN... for ROS developpers.
If you build rtabmap in Debug, you could run it in gdb.
$ cd rtabmap/build
$ cmake -DCMAKE_BUILD_TYPE=Debug ..
$ cd ../bin
$ gdb rtabmap-console myImages