Self designed interface: Map destructed

[laxnpander]

Hey guys,

I am currently trying to integrate SVO 2.0 in a mapping framework for testing. However I run into problems copying the mono example interface provided (I use my own interface, because it suits my needs better). The following code snippet is used for construction:

  _cam = vk::cameras::NCamera::loadFromYaml("/valid/path/to/calib.yaml");

  std::cout << "loaded " << _cam->numCameras() << " cameras";
  for(const auto& cam : _cam->getCameraVector())
    cam->printParameters(std::cout, "");

  // Init VO
  svo::FrameHandlerMono::Ptr _slam =
      std::make_shared<svo::FrameHandlerMono>(
          loadBaseOptions(),
          loadDepthFilterOptions(),
          loadDetectorOptions(),
          loadInitializationOptions(),
          loadReprojectorOptions(),
          loadTrackerOptions(),
          _cam);

  svo::Transformation T_world_imuinit(
      Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0),
      Eigen::Vector3d(0.0, 0.0, 0.0));

  _slam->setInitialImuPose(T_world_imuinit);
  _slam->start();

The camera is read and printed correctly, however directly after creation as well the map as the depth filter are destructed. I copied all parameters and compared them with the ones in the example. The only difference I currently see, is that I don't establish a visualization, because it gets handled from my own framework.

Any suggestions what to try here, or in what cases such behaviour might occure?

Thanks and best regards,

Alex