realsense L515 on windows not working

[sDeboffle]

Hi mathieu, it's benn a long time since our last discussion.
I'm trying to use L515 on rtabmap windows standelone.
I can't make any map, I always have a odometry problem:

libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profileconfig.ini
[ WARN] (2022-03-31 13:52:49) PreferencesDialog.cpp:2382::rtabmap::PreferencesDialog::readCameraSettings() From 0.20.11, the local transform of the camera should not contain optical rotation (read="0 0 1 -1 0 0 0 -1 0"). Resetting to default Identity for convenience.
Program started...
[ WARN] (2022-03-31 13:52:56) Rtabmap.cpp:587::rtabmap::Rtabmap::parseParameters() RGBD/OptimizeMaxError (value=0.200000) is smaller than 1.0, setting to default 3.000000 instead (for backward compatibility issues when this parameter was previously an absolute error value).
[ WARN] (2022-03-31 13:53:07) OdometryF2M.cpp:163::rtabmap::OdometryF2M::OdometryF2M() OdomF2M/BundleAdjustment=1 cannot be used with registration not done only with images (Reg/Strategy=1), disabling bundle adjustment.
[ WARN] (2022-03-31 13:53:07) Odometry.cpp:316::rtabmap::Odometry::process() Updated initial pose from xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 to xyz=0.000000,0.000000,0.000000 rpy=-0.140456,-0.131896,0.009291 with IMU orientation
[ WARN] (2022-03-31 13:53:07) OdometryF2M.cpp:1355::rtabmap::OdometryF2M::computeTransform() Missing scan to initialize odometry.
[ WARN] (2022-03-31 13:53:07) Camera.cpp:107::rtabmap::Camera::takeImage() Camera: Cannot reach target image rate 5.000000 Hz, current rate is 3.783525 Hz and capture time = 0.059191 s.
[ WARN] (2022-03-31 13:53:07) OdometryF2M.cpp:1355::rtabmap::OdometryF2M::computeTransform() Missing scan to initialize odometry.
[ WARN] (2022-03-31 13:53:22) OdometryF2M.cpp:1355::rtabmap::OdometryF2M::computeTransform() Missing scan to initialize odometry.
[ WARN] (2022-03-31 13:53:23) CameraRealSense2.cpp:332::rtabmap::CameraRealSense2::getPoseAndIMU() Could not find acc data to interpolate at image time 1648727602.894649 after waiting 35 ms (last is 1648727602.889569)...
[ WARN] (2022-03-31 13:53:23) Transform.cpp:520::rtabmap::Transform::getTransform() No transform found for stamp 1648727602.894649! Latest is 1648727602.695080
[ WARN] (2022-03-31 13:53:23) OdometryF2M.cpp:1355::rtabmap::OdometryF2M::computeTransform() Missing scan to initialize odometry.

What is the way to deal with that issue?

L515 seems to work well in realsense viewer and I try with Dot3d, and have no issues to map..

Thanks so much for your work, it's always a pleasure to have time and play with rtabmap!!!

[sDeboffle]

I install last RTABmap version on a other computer, I have no issues, so probably a settings issue, I will check myself.
That's seems to work fine.
Thanks

[matlabbe]

Based on the errors, it seems the lidar generation from depth image in Preferences->Source was not checked. Without scans, icp odometry cannot work.