I plan to perform RTAB-Map using the apartment1_1 sequence from the CID-SIMS dataset (github: https://cid-sims.github.io/index.html). In the dataset, the /apartment1_1 folder contains the data as shown in the figure:

For SLAM, I use the rtabmap-rgbd_dataset command as follows:
rtabmap-rgbd_dataset --RGBD/OptimizeMaxError 0 --Rtabmap/StartAtFirstGroundtruth true --calibration apartment1_1/rtabmap_calib.yaml --Rtabmap/ImagesAlreadyRectified true --data apartment1_1

Here, rtabmap_calib.yaml is the calibration parameter file I set up based on the calibration.yaml of CID-SIMS to meet the requirements of rtabmap-rgbd_dataset.

However, I noticed two issues regardless of how I set the calibration.yaml file:

First, parameter settings, such as camera parameters, do not seem to take effect.
For example, when I query the parameters from the generated rtabmap.db file using the command
sqlite3 rtabmap.db "SELECT parameters FROM Info;"
the camera parameters are always missing.

Second, the following warnings always appear at the beginning of the process:

Could someone kindly offer guidance to help solve these problems?