ORB_SLAM2_SuperPoint loop closure

[Leaf-G]

ORB_SLAM2_SuperPoint repository:
About "For the sequences that end with loop closure, sometimes occurs seg fault",could you tell me the reason? And when i add "usleep(1000)":
usleep(1000); Optimizer::OptimizeEssentialGraph(mpMap, mpMatchedKF, mpCurrentKF, NonCorrectedSim3, CorrectedSim3, LoopConnections, mbFixScale);
I tried several times and this error doesn't happen anymore.
Could you help me? Thank you very much!

[Gabriel-SGama]

It was an error I noticed when testing the sequence 00 from KITTI Dataset. It was always at the end and didn't occur in most of the other trajectories. I tried adding a delay time to the loop closure when the pipeline ends but didn't help. I couldn't figure out the reason, though. If adding this usleep(1000) to the loop closure solved the issue without interfering with the pipeline, can you make a PR?

[Leaf-G]

sorry, I try it again.This error didn't solve. I also didn't know this reason for the error.