Opencv depthframe - > pointcloud causes segmentation fault!

Segment error segmentation fault summary

VectorXd    imgpos(6);
imgpos << 0, M_PI/2, -M_PI*16/18, 0, M_PI*5/18, 0;
arm.m_captenv.clear();
CAPT_POSE   captenvpose;
captenvpose.got = false;
captenvpose.jointspos = imgpos;
arm.m_captenv.push_back(captenvpose);

if m_captenv not initialized, m_captenv[0] is null, will break with segmentation fault.

arm.m_d435i.getframe();
arm.m_d435i.getpoints();
arm.addpointsenv(arm.m_d435i.m_points, 0);

The actual mistake is OpenCV The point cloud obtained by aligning the depth map and the color map with the original frame The direct computing of point cloud is different , Indexing a point cloud caused a segment error , The exact reason is unknown , It is OK to calculate the point cloud by using the misaligned depth map .