Segmenation fault after a random perod of time

[JanezCim]

Im getting a segmenattion fault and then an abrupt exit after a random period of time, looks like this

I'm running it with ROS and it is producing some kind of output, but exits too fast to actually check if its sensible.

My setup: Rpi 4 with ubuntu 16.04 ROS Kinetic RGB image is from a Realsense d435i attached to a mobile robot

my param file:

%YAML:1.0

#########################
### Camera Parameters ###
#########################

fx: 611.1327514648438
fy: 611.2852783203125
cx: 326.94580078125
cy: 250.05352783203125

height: 0.3
pitch_angle: -0.03
 

###########################
### Detector Parameters ###
###########################

# Maximum number of FAST features per image
nFeatures: 300

#Kepoints with corner response lower than threshold are ignored (lower it if your images have low contrast)
threshold: 15

# Image is divided to a nRows * nCols grid
nRows: 6
nCols: 12


##########################
### Tracker Parameters ###
##########################

window_size: 13

I am trying to get this visual odometry to work on this mobile robot with a camera stream provided in the following bag file:

https://we.tl/t-cXaIcOLQ5y

subscribing to /camera/color/image_raw

As can be seen from image stream the robot is never purely rotating, there is always a bit of forward motion as well.

Thank you for your work, I love the concept of taking the height and pitch and extracting scale from it!