Segfault whenever map is initialized

[connorsoohoo]

I'm trying to fuse a GPU-accelerated version of ORB Slam with your IMU modifications. Essentially it moves feature tracking to the GPU. Here is my branch with the IMU mods: https://github.com/connorsoohoo/ORB-SLAM2-GPU2016-final/tree/imu
I'm running the Euroc dataset, and whenever the feature tracking map becomes initialized it segfaults. Anyone have an idea what the problem is? I'm thinking that the main issue is that the IMU measurements are trying to become re-synced with the feature tracking, which can't happen because I moved the process to the GPU.

My run parameters are given below.