ch5 joinMap exit code 139 about slambook HOT 3 OPEN

我用之前下载的代码也遇到了同样的错误，刚入门c++，还不太熟悉语法，没有看您的修改意见，能把第15行完整代码给我看看吗？并且，我把code那里的代码沾过去，运行的结果变成了这样：

正在将图像转换为点云...
转换图像中: 1
转换图像中: 2
转换图像中: 3
转换图像中: 4
转换图像中: 5
点云共有0个点.
terminate called after throwing an instance of 'pcl::IOException'
what(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data!

Process finished with exit code 134 (interrupted by signal 6: SIGABRT)

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It's not a big issue; actually the path to images are not suited that is why it is not able to read the images and giving errors. So change the path accordingly.

I did this th following, but you can change accordingly.

boost::format fmt( "/home/blahh/slambook-master/ch5/joinMap/%s/%d.%s" ); //图像文件格式
colorImgs.push_back( cv::imread( (fmt%"color"%(i+1)%"png").str() ));
depthImgs.push_back( cv::imread( (fmt%"depth"%(i+1)%"pgm").str(), -1 )); // 使用-1读取原始图像

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the vector of Eigen objects should use the Eigen aligned allocators, see https://eigen.tuxfamily.org/dox/group__TopicFixedSizeVectorizable.html

I'll fix it in the second edition.

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