Flame::getPoseFrame returns a null pointer

[francescomilano172]

Hi, I am getting segmentation faults while trying to run the pipeline on Ubuntu 18.04 (e.g., with the launch file flame_offline_asl.launch from https://github.com/robustrobotics/flame_ros). Some of them are caused by Eigen memory issues and can be temporarily solved by using #define EIGEN_DONT_VECTORIZE and #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT. However, I am now getting another segfault, which seems to occur when dereferencing the shared_ptr fcmp at

flame/src/flame/flame.cc

Line 205 in fea7cee

if (fcmp->id >= curr_pf_->id) {

.
This happens because Flame::getPoseFrame can return a null pointer whenever no pose frames with a valid score are found (cf.

flame/src/flame/flame.cc

Line 796 in fea7cee

utils::KeyFrameSelector::score(fnew.img[0].cols, fnew.img[0].rows,

and, e.g.,

flame/src/flame/utils/keyframe_selector.cc

Line 203 in fea7cee

return std::numeric_limits<float>::lowest();

).

Is there anything that I'm doing wrong?

Thank you