Crash in LaserProcessing Node

[frapit]

Hi,
just tested the FLOAM project with a L515 but I can't make it work properly. A few seconds after initialization, the LaserProcessing Node is crashing, the core dump says the following:

Thread 6 "floam_ssl_laser" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffd921d700 (LWP 4893)]
LaserProcessingClass::featureExtraction (this=0x555555787240 <laserProcessing>, pc_in=...,
    pc_out_edge=..., pc_out_surf=...)
    at ~/projects/catkin_ssl/src/floam_ssl/src/laserProcessingClass.cpp:29
29          double last_angle = atan2(pc_in->points[0].z,pc_in->points[0].y) * 180 / M_PI;

Do you have any idea what causes this?

When it runs for a few seconds and I simply rotate the sensor in my hands, the resulting map looks very scattered:

Is this normal behavior?

I did everything as described in your readme. One more question, why do we need to set the color_width and color_height properties to 1280x720 while the depth resolution is only 640x480? This does not seem to match.

Thank you!