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I think I can see now the origin of the problem. It is related to Boost included from outside ros. In fact I should have reported my full CMakeLists.txt in the question, but I was initially far from thinking the issue was in any how related...

In my CMakeLists.txt I included my own boost (latest version downloaded from source) like

SET (BOOST_DIR "/home/polar/soft/lib/boost/boost_1_61_0")
SET (BOOST_INCLUDEDIR "/home/polar/soft/lib/boost/boost_1_61_0/build/include")
SET (BOOST_LIBRARYDIR "/home/polar/soft/lib/boost/boost_1_61_0/build/lib")

FIND_PACKAGE(Boost 1.61.0 REQUIRED thread)
if (NOT Boost_FOUND)
  message(FATAL_ERROR " Fatal error: Boost (version >= 1.55) required.")
else()
  message(STATUS "Setting up BOOST")
  message(STATUS " Includes - ${Boost_INCLUDE_DIRS}")
  message(STATUS " Library  - ${Boost_LIBRARY_DIRS}")
  include_directories(${Boost_INCLUDE_DIRS})
  link_directories(${Boost_LIBRARY_DIRS})
endif (NOT Boost_FOUND)

As such I got segmentation fault at image_transport::ImageTransport it(nh);. However, after replacing the above CMake code with only

FIND_PACKAGE(Boost)

I no longer have that segmentation fault.

Thus another question, how to use the standalone Boost with ROS catkin??