From 30a43ccec6877781c0c0361637922d8a8685b2d0 Mon Sep 17 00:00:00 2001
From: Andre Phu-Van Nguyen <andre-phu-van.nguyen@polymtl.ca>
Date: Tue, 3 Feb 2015 20:14:17 -0500
Subject: [PATCH] fix relocalization segfault

---
 svo/src/frame_handler_mono.cpp | 5 +++++
 svo/src/map.cpp                | 5 +++++
 2 files changed, 10 insertions(+)

diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp
index 3de6f7f..cd1865b 100644
--- a/svo/src/frame_handler_mono.cpp
+++ b/svo/src/frame_handler_mono.cpp
@@ -240,6 +240,11 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame(
     FramePtr ref_keyframe)
 {
   SVO_WARN_STREAM_THROTTLE(1.0, "Relocalizing frame");
+  if(ref_keyframe == nullptr)
+  {
+    SVO_INFO_STREAM("Relocalization successful.");
+    return RESULT_FAILURE;
+  }
   SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),
                            30, SparseImgAlign::GaussNewton, false, false);
   size_t img_align_n_tracked = img_align.run(ref_keyframe, new_frame_);
diff --git a/svo/src/map.cpp b/svo/src/map.cpp
index 39aab50..2ecad1c 100644
--- a/svo/src/map.cpp
+++ b/svo/src/map.cpp
@@ -130,6 +130,11 @@ FramePtr Map::getClosestKeyframe(const FramePtr& frame) const
 {
   list< pair<FramePtr,double> > close_kfs;
   getCloseKeyframes(frame, close_kfs);
+  if(close_kfs.empty())
+  {
+    return nullptr;
+  }
+
 
   // Sort KFs with overlap according to their closeness
   close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) <