ORB SLAM2 跑数据集报错，如何解决？

问题遇到的现象和发生背景

最近想要用深度相机和ORB SLAM2跑一个实验室的稠密图，好不容易把orb slam2安装上了，但是在跑rgbd数据集的时候报错

问题相关代码，请勿粘贴截图

ORB SLAM2代码 | https://github.com/raulmur/ORB_SLAM2
数据集合链接 | rgbd_dataset_freiburg1_desk 可交流获得

运行结果及报错内容
我的解答思路和尝试过的方法

./Examples/RGB-D/rgbd_tum /home/cp/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/cp/ORB_SLAM2/Examples/RGB-D/TUM1.yaml /home/cp/rgbd_dataset_freiburg1_desk /home/cp/rgbd_dataset_freiburg1_desk/associations.txt

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while
Vocabulary loaded!

Camera Parameters:

  • fx: 517.306
  • fy: 516.469
  • cx: 318.643
  • cy: 255.314
  • k1: 0.262383
  • k2: -0.953104
  • k3: 1.16331
  • p1: -0.005358
  • p2: 0.002628
  • fps: 30
  • color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

  • Number of Features: 1000
  • Scale Levels: 8
  • Scale Factor: 1.2
  • Initial Fast Threshold: 20
  • Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 3.09294

Start processing sequence
Images in the sequence: 573

ORB_SLAM2系统输入第 0 张图像
System::TrackRGBD()
Tracking::GrabImageRGBD()
段错误 (核心已转储)

我想要达到的结果

看文章分析core 文件，为生成后也没看明白怎么改的，希望圈友们施以援手。

报错信息文本是什么

重做了系统，问题已经解决。