Track display and crashing

[eceprof]

I have installed scavislam per all instructions on an Ubuntu 12.04.1 LTS system with CUDA disabled. On executing it with the recommended newcollege data set, it presents each frame with the various feature points and connecting segments displayed as selected in the GUI. I have two questions however.

1. As I have seen also reported in the github issues list, it crashes on processing the last frame (as determined by examining the core file with gdb.) Before I started tracing into the execution, is there a known simple fix for that?

2. What I would like to see displayed but don't obtain is the estimated trajectory and surrounding point cloud that are shown in your two youtube videos in the lower half of the video frames. How does one activate this display, or, is this something that will not be displayed until the crash issue is fixed, or is this not generated by the released ScaViSLAM code?

Thank you.