Segfault after second frame

[DxsGeorge]

I have modified test_pipeline.cpp to run with a webcam instead of set images. After going to second frame it crashes with segfault. Here is the gdb:

[INFO] New Frame
[INFO] Init: KLT tracked 110 features
[INFO] Init: KLT 50.6614px average disparity.
[INFO] Init: Homography RANSAC 107 inliers.
[INFO] Init: Selected second frame, triangulated initial map.
[INFO] Frame: 44 fps-avg = 151.953 nObs = 0
Add Image
Vectors
Last Frame
#Features: 104 X: -1.0018 Y: -0.735614 Z: 1.94138

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xb5815b40 (LWP 30823)]
Matrix (
other=<unknown type in /home/user/workspace/rpg_svo/svo/lib/libsvo.so, CU 0xabff6c, DIE 0xb9cd5a>, this=0xac200548) at /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:220
220 Base::_set_noalias(other);
(gdb) bt
#0 Matrix (
other=<unknown type in /home/user/workspace/rpg_svo/svo/lib/libsvo.so, CU 0xabff6c, DIE 0xb9cd5a>, this=0xac200548) at /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:220
#1 Seed (this=0xac200528) at /home/user/workspace/rpg_svo/svo/include/svo/depth_filter.h:35
#2 _List_nodesvo::Seed (this=) at /usr/include/c++/4.8/bits/stl_list.h:114
#3 construct<std::_List_nodesvo::Seed, svo::Seed> (__p=, this=0x80e5904)
at /usr/include/c++/4.8/ext/new_allocator.h:120
#4 _M_create_nodesvo::Seed (this=0x80e5904) at /usr/include/c++/4.8/bits/stl_list.h:505
#5 _M_insertsvo::Seed (__position=..., this=0x80e5904)
at /usr/include/c++/4.8/bits/stl_list.h:1561
#6 push_back (
__x=<unknown type in /home/user/workspace/rpg_svo/svo/lib/libsvo.so, CU 0xabff6c, DIE 0xbb09cd>, this=0x80e5904) at /usr/include/c++/4.8/bits/stl_list.h:1021
#7 operator() (ftr=, __closure=)
at /home/user/workspace/rpg_svo/svo/src/depth_filter.cpp:126
#8 for_each<std::_List_iteratorsvo::Feature*, svo::DepthFilter::initializeSeeds(svo::FramePtr)::__lambda0> (__f=..., __last=, __first=) at /usr/include/c++/4.8/bits/stl_algo.h:4417
---Type to continue, or q to quit---
#9 svo::DepthFilter::initializeSeeds (this=this@entry=0x80e58d0, frame=...)
at /home/user/workspace/rpg_svo/svo/src/depth_filter.cpp:127
#10 0xb7fb9bd8 in svo::DepthFilter::updateSeedsLoop (this=0x80e58d0)
at /home/user/workspace/rpg_svo/svo/src/depth_filter.cpp:193
#11 0xb7fbb66b in operator() (p=, this=0x80e5fec)
at /usr/include/boost/bind/mem_fn_template.hpp:49
#12 operator()<boost::_mfi::mf0<void, svo::DepthFilter>, boost::_bi::list0> (a=,
f=..., this=0x80e5ff4) at /usr/include/boost/bind/bind.hpp:253
#13 operator() (this=0x80e5fec) at /usr/include/boost/bind/bind_template.hpp:20
#14 boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, svo::DepthFilter>, boost::_bi::list1<boost::_bi::valuesvo::DepthFilter* > > >::run (this=0x80e5ed0)
at /usr/include/boost/thread/detail/thread.hpp:117
#15 0xb7493681 in ?? () from /usr/lib/i386-linux-gnu/libboost_thread.so.1.54.0
#16 0xb7474f72 in start_thread (arg=0xb5815b40) at pthread_create.c:312
#17 0xb75f22ae in clone () at ../sysdeps/unix/sysv/linux/i386/clone.S:129

[DxsGeorge]

Built every dependency from scratch, now getting this error:

[New Thread 0xb4155b40 (LWP 17300)]
[INFO] SVO initialized
[New Thread 0xb3924b40 (LWP 17302)]
Frame size : 640 x 480
[New Thread 0xb2b8eb40 (LWP 17303)]
[New Thread 0xb238db40 (LWP 17304)]
[New Thread 0xb19ffb40 (LWP 17305)]
[New Thread 0xb0fffb40 (LWP 17306)]
[New Thread 0xb01ffb40 (LWP 17307)]
[New Thread 0xaf9feb40 (LWP 17308)]
[INFO] RESET
[INFO] New Frame
[WARN] First image has less than 100 features. Retry in more textured environment.
[INFO] Frame: 0 fps-avg = inf nObs = 0
Add Image

Program received signal SIGSEGV, Segmentation fault.
0x0805320d in std::__atomic_base::fetch_add(int, std::memory_order) ()
(gdb) bt
#0 0x0805320d in std::__atomic_base::fetch_add(int, std::memory_order) ()
#1 0x08052865 in boost::detail::atomic_increment(std::__atomic_base*) ()
#2 0x08052924 in boost::detail::sp_counted_base::add_ref_copy() ()
#3 0x080529e8 in boost::detail::shared_count::shared_count(boost::detail::shared_count const&) ()
#4 0x0805392a in boost::shared_ptrsvo::Frame::shared_ptr(boost::shared_ptrsvo::Frame const&) ()
#5 0x08053137 in svo::FrameHandlerMono::lastFrame() ()
#6 0x08051c4c in svo::BenchmarkNode::runFromCamera() ()
#7 0x08051fe8 in main ()

[DxsGeorge]

I built this repository and it is working