Fixed segmentation fault while running stereo KITTI example

CMakeLists.txt

@@ -387,4 +387,4 @@ if(realsense2_FOUND)
     add_executable(stereo_inertial_realsense_D435i_old
             Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
     target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
-endif()
+endif()

Examples/Monocular/mono_euroc.cc

@@ -94,7 +94,6 @@ int main(int argc, char **argv)
         int proccIm = 0;
         for(int ni=0; ni<nImages[seq]; ni++, proccIm++)
         {
-
             // Read image from file
             im = cv::imread(vstrImageFilenames[seq][ni],cv::IMREAD_UNCHANGED); //,CV_LOAD_IMAGE_UNCHANGED);
             double tframe = vTimestampsCam[seq][ni];

Examples/Stereo/KITTI00-02.yaml

@@ -57,7 +57,7 @@ Viewer.PointSize: 2.0
 Viewer.CameraSize: 0.7
 Viewer.CameraLineWidth: 3.0
 Viewer.ViewpointX: 0.0
-Viewer.ViewpointY: -100
+Viewer.ViewpointY: -100.0
 Viewer.ViewpointZ: -0.1
 Viewer.ViewpointF: 2000.0
 

include/System.h

@@ -266,4 +266,4 @@ class System
 
 }// namespace ORB_SLAM
 
-#endif // SYSTEM_H
+#endif // SYSTEM_H

src/Settings.cc

@@ -558,11 +558,15 @@ namespace ORB_SLAM3 {
             else{
                 output << "Kannala-Brandt";
             }
-            output << "" << ": [";
-            for(size_t i = 0; i < settings.originalCalib2_->size(); i++){
+
+            if (settings.cameraType_ != Settings::Rectified){
+                output << "" << ": [";
+                for(size_t i = 0; i < settings.originalCalib2_->size(); i++){
                 output << " " << settings.originalCalib2_->getParameter(i);
+                }
+                output << " ]" << endl;
             }
-            output << " ]" << endl;
+
 
             if(!settings.vPinHoleDistorsion2_.empty()){
                 output << "\t-Camera 1 distortion parameters: [ ";

src/System.cc

@@ -1546,4 +1546,3 @@ string System::CalculateCheckSum(string filename, int type)
 }
 
 } //namespace ORB_SLAM
-