Hi, @matlabbe.
It happens with the latest git,
How to reproduce:
with the latest git, and I test with the
https://github.com/introlab/rtabmap/blob/71a28bb570e26f6bbcb78bd7a95ea75c24a4d4d8/archive/2022-IlluminationInvariant/README.md
first DB loc_190321-165128.db, source load from DB, use odometer in the DB, and Kp/DetectorStrategy, Vis/FeatureType should be set to 11 (SuperPoint), and Vis/CorNNType is set to 6 (SuperGlue). It freezes in a few detections like below

The odometer seems to continue, but loop detection stops. I can press stop, but can not close the DB, need to force kill it.
I return to the latest release(https://github.com/introlab/rtabmap/releases/tag/0.20.16)

Everything is OK, superGlue works.
Btw, the superGlue works on the odometer, but freezes with the loop detection.
Ubuntu:20.04, test on both Cuda 11.6 and 11.7. libtorch 1.8.2.
I think there are some issues with loop detection with the recent commit.
I hope you can fix it soon.
Thanks,@matlabbe