Segmentation fault.

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i am try to learn the dynamic slam and the code are base on the https://github.com/bijustin/YOLO-Dyna... and it is base on orbslam2 , i use the tum dataset to test is success , but i try to run on ROS the terminal print the Segmentation fault when i use the rosbag provide by tum dataset. i have no idea to solve it.

#include<iostream>
#include<algorithm>
#include<fstream>
#include<chrono>
#include<opencv2/core/core.hpp>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include<ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>

#include"../../../include/System.h"
#include "../../../include/Geometry.h"
#include "../../../include/MaskNet.h"

#include "../../../include/yolo.h"


using namespace std;

class ImageGrabber
{
public:
ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){}

void GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const sensor_msgs::ImageConstPtr& msgD);

ORB_SLAM2::System* mpSLAM;
};

int main(int argc, char **argv)
{

ros::init(argc, argv, "RGBD");
ros::start();

// Initialize Mask R-CNN
//DynaSLAM::SegmentDynObject *MaskNet;   

ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::RGBD,true);

//選擇是否要加載先前儲存的地圖
char IsLoadMap;
cout << "Do you want to load the map?(y/n)" << endl;
cin >> IsLoadMap;
if(IsLoadMap == 'Y' || IsLoadMap == 'y')
{
    SLAM.LoadMap("/home/henry/henry_ws/src/YOLO-DynaSLAM/map.bin");
}    

ImageGrabber igb(&SLAM);
ros::NodeHandle nh;

message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh,"/camera/rgb/image_color", 1);
message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh,"/camera/depth/image", 1);

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
message_filters::Synchronizer<sync_pol> sync(sync_pol(10), rgb_sub,depth_sub);
sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2));

ros::spin();
SLAM.Shutdown();

char IsSaveMap;
cout << "Do you want to save the map?(y/n)" << endl;
cin >> IsSaveMap;
if(IsSaveMap == 'Y' || IsSaveMap == 'y')
{
    SLAM.SaveMap("/home/henry/henry_ws/src/YOLO-DynaSLAM/map.bin");
}
// Save camera trajectory
SLAM.SaveTrajectoryTUM("CameraTrajectory.txt");
SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");

ros::shutdown();

return 0;

}

void ImageGrabber::GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const sensor_msgs::ImageConstPtr& msgD)
{   


// Copy the ros image message to cv::Mat.
cv_bridge::CvImageConstPtr cv_ptrRGB;
try
{
    cv_ptrRGB = cv_bridge::toCvShare(msgRGB);
}
catch (cv_bridge::Exception& e)
{
    ROS_ERROR("cv_bridge exception: %s", e.what());
    return;
}

cv_bridge::CvImageConstPtr cv_ptrD;
try
{
    cv_ptrD = cv_bridge::toCvShare(msgD);
}
catch (cv_bridge::Exception& e)
{
    ROS_ERROR("cv_bridge exception: %s", e.what());
    return;
}

yolofastest::yolofastestSegment* yolo;
yolo = new yolofastest::yolofastestSegment();

cv::Mat RGB_image=cv_ptrRGB->image;

cv::Mat mask = cv::Mat::ones(480,640,CV_8U);

mask = yolo->Segmentation(RGB_image);

mpSLAM->TrackRGBD(cv_ptrRGB->image,cv_ptrD->image,mask,cv_ptrRGB->header.stamp.toSec());

}

henry@henry-MS-7A64:~/henry_ws/src/YOLO-DynaSLAM$ rosrun --prefix 'gdb -ex run --args' YOLO_DynaSLAM RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3-bag.yaml GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1 Copyright (C) 2016 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB ... (more)