Crashed

[ghost]

I am running with my own data. It worked well except that it crashed sometimes at frame 2000, sometime at frame 3000, sometime frame 4000. For example, the last crashed was because of the following. How can I fix the crash?

Created new keyframe! 330 total ID 4737
ERROR!!! Cannot read txt file C:\gcong\hy\VO\video\orb_hy_dense_half/edge_detection/LSD/004737_edge.txt
created local object num 1
Detect cuboid for pKF id: 330 total id: 4737 numObj: 1
begin to associate cuboids #candidate: 0 #landmarks 2 #localKFs 14
Cloud size 1
Potential plane pt size 1 11
[pcl::SampleConsensusModel::getSamples] Can not select 0 unique points out of 1!
[pcl::RandomSampleConsensus::computeModel] No samples could be selected!
[pcl::RandomSampleConsensus::computeModel] RANSAC found no model.
[pcl::SACSegmentation::segment] Error segmenting the model! No solution found.