Segmentation fault on SaveTrajectoryTUM in rgbd_inertial_realsense_D435i

[barbara-dc]

Hello,

I am running the rgbd_inertial_realsense_D435i, where I have added SLAM.SaveTrajectoryTUM(f_file); to save the trajectory in TUM format after cout << "System shutdown!\n";

Also, I noticed it was not stopping under Ctrl+C, so I modified while (!SLAM.isShutDown()) into while (b_continue_session && !SLAM.isShutDown()).

The script is running in segmentation fault just before Sophus::SE3f Two = vpKFs[0]->GetPoseInverse(); inside the function SaveTrajectoryTUM.

Do you have any ideas why this is happening? The same lines for trajectory saving are not giving the error in rgbd_realsense_D435i.