Fix mac build, OpenCV4 compatibility, fix use-after-free causing memory corruption #177
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Thank a lot! It help! |
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I tested this out on Ubuntu 18.04 as well
OSX consistently crashes in the pangolin viewer because the connectivity graph is corrupted on frame publish. This, in turn, is because when marginalizing a frame, the EFFrame is freed and then used for updating the connectivity graph. This caused the connectivity graph to be accessed with invalid keys (target->frameID overwritten). However, std::map creates elements on access so invalid edges would be created instead of decrementing counts of existing edges.