From 23c91d90ad27ef30ef9cad4f1f473fa4012dcfb5 Mon Sep 17 00:00:00 2001
From: JonnyKong <jonnykong1996@gmail.com>
Date: Sun, 18 Apr 2021 21:32:29 -0400
Subject: [PATCH 1/2] Correct type to make the program compile

---
 include/LoopClosing.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/LoopClosing.h b/include/LoopClosing.h
index 79542f7860..87707fa1ee 100644
--- a/include/LoopClosing.h
+++ b/include/LoopClosing.h
@@ -47,7 +47,7 @@ class LoopClosing
 
     typedef pair<set<KeyFrame*>,int> ConsistentGroup;
     typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
-        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
+        Eigen::aligned_allocator<std::pair<KeyFrame* const , g2o::Sim3> > > KeyFrameAndPose;
 
 public:
 

From 129ea756321752df298612ee77729394e26416e6 Mon Sep 17 00:00:00 2001
From: JonnyKong <jonnykong1996@gmail.com>
Date: Sun, 18 Apr 2021 21:35:09 -0400
Subject: [PATCH 2/2] Make client exit gracefully

---
 src/Tracking.cc | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/Tracking.cc b/src/Tracking.cc
index 62bbc4b24a..bdde2be29c 100644
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@@ -2321,12 +2321,17 @@ void Tracking::tcp_receive(moodycamel::ConcurrentQueue<std::string>* messageQueu
 
 // Edge-SLAM: added destructor to destroy all connections on object termination
 Tracking::~Tracking(){
-    keyframe_socket->~TcpSocket();
-    frame_socket->~TcpSocket();
+    keyframe_socket->setAlive(false);
+    frame_socket->setAlive(false);
     map_socket->~TcpSocket();
+
     // This is just a dummy enqueue to unblock the wait_dequeue function in tcp_send()
     keyframe_queue.enqueue("exit");
     frame_queue.enqueue("exit");
+
+    keyframe_thread->join();
+    frame_thread->join();
+    map_thread->join();
 }
 
 } //namespace ORB_SLAM