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 https://github.com/robustrobotics/flame/blob/fea7ceeaa5e78243eb94a4eff35b1d4b16e31193/src/flame/flame.cc#L205. This happens because Flame::getPoseFrame can return a null pointer whenever no pose frames with a valid score are found (cf. https://github.com/robustrobotics/flame/blob/fea7ceeaa5e78243eb94a4eff35b1d4b16e31193/src/flame/flame.cc#L796 and, e.g., https://github.com/robustrobotics/flame/blob/fea7ceeaa5e78243eb94a4eff35b1d4b16e31193/src/flame/utils/keyframe_selector.cc#L203).

Is there anything that I'm doing wrong?

Thank you