Huang, Kun

Related discussion here: https://groups.google.com/g/ceres-solver/c/NZ4fu1jeFnI

it happens when 'return 0' in rgbd_tum.cc! ` // Save camera trajectory SLAM.SaveTrajectoryTUM("CameraTrajectory.txt"); SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt"); return 0;`

it happens after SaveKeyFrameTrajectoryTUM！

but "cout

is it possible the return address in stack broken?

Ceres version: 2.2.0 Eigen version: 3.4.0

Thanks for your reply. It use QuaternionBase::_transformVector. Could you please explain why different methods produce very different derivatives or give some reference? @sergiud Hamilton product ``` -2.08168 0.254191 -0.250392 1.06735...

#60 #10

Thanks to this MR, save me from OpenGL errors