room_segmentation_algorithm:4 can not run

[sxy370921]

When I set parameter room_segmentation_algorithm to 4 or 5 to run “room_segmentation_action_client" in ROS Kinetic, the program crashed and the server was restarted. However, when room_segmentation_algorithm was set to 1, 2, and 3, the program was OK.
When the program crashed, the server and client output the following contents respectively.

room_segmentation_action_server:
[ INFO] [1635251329.983710373]: *****Segmentation action server*****
[ INFO] [1635251329.983728404]: map resolution is : 0.050000
[ INFO] [1635251329.983760120]: segmentation algorithm: 4
[ INFO] [1635251329.993809649]: Starting to label the map.
[ INFO] [1635251330.054562425]: Loaded training results.
[room_segmentation/room_segmentation_server-2] process has died [pid 13641, exit code -11, cmd /home/sxy/test_ros_ws/devel/lib/ipa_room_segmentation/room_segmentation_server __name:=room_segmentation_server __log:=/home/sxy/.ros/log/2a644bf4-3658-11ec-8a68-6cb311407a0a/room_segmentation-room_segmentation_server-2.log].
log file: /home/sxy/.ros/log/2a644bf4-3658-11ec-8a68-6cb311407a0a/room_segmentation-room_segmentation_server-2*.log
[room_segmentation/room_segmentation_server-2] restarting process
process[room_segmentation/room_segmentation_server-2]: started with pid [14536]

room_segmentation_action_client:
[ INFO] [1635251328.946489590]: Action server started, sending goal.
[ WARN] [1635251332.454743307]: Transitioning goal to LOST
[ INFO] [1635251332.454935510]: Finished successfully!
terminate called after throwing an instance of 'cv_bridge::Exception'
what(): Unrecognized image encoding []
[room_segmentation/room_segmentation_client-1] process has died [pid 14426, exit code -6, cmd /home/sxy/test_ros_ws/devel/lib/ipa_room_segmentation/room_segmentation_client __name:=room_segmentation_client __log:=/home/sxy/.ros/log/2a644bf4-3658-11ec-8a68-6cb311407a0a/room_segmentation-room_segmentation_client-1.log].
log file: /home/sxy/.ros/log/2a644bf4-3658-11ec-8a68-6cb311407a0a/room_segmentation-room_segmentation_client-1*.log
all processes on machine have died, roslaunch will exit

[ipa-rmb]

Does this happen with a specific map or with every map?

[sxy370921]

@ipa-rmb

It happened with every map. Moreover, I have tried to run it on a new computer with Ubuntu 18.04, ROS Melodic. The program still crashed. The program in the Melodic provided more error information when it crashed.
In addition, I want to explain that since I only need to segment the rooms of the maps, I only use and compile two ROS packages, "ipa_room_segmentation" and "ipa_building_msgs". I installed the dependencies using "sudo apt-get install ros-kinetic-XXX", such as opengm, libdlib, etc.
The server output the following contents on the new computer with Melodic.
room_segmentation_action_server:
[ INFO] [1635317803.042311726]: *****Segmentation action server*****
[ INFO] [1635317803.042390914]: map resolution is : 0.050000
[ INFO] [1635317803.042414237]: segmentation algorithm: 4
[ INFO] [1635317803.078146770]: Starting to label the map.
[ INFO] [1635317803.105760821]: Loaded training results.
OpenCV Error: Assertion failed (!fixedSize() || ((Mat*)obj)->size.operator()() == Size(_cols, _rows)) in create, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 2287
terminate called after throwing an instance of 'cv::Exception'
what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:2287: error: (-215) !fixedSize() || ((Mat*)obj)->size.operator()() == Size(_cols, _rows) in function create

[room_segmentation/room_segmentation_server-2] process has died [pid 19034, exit code -6, cmd /media/sxy/home_HDD/catkin_ws/devel/lib/ipa_room_segmentation/room_segmentation_server __name:=room_segmentation_server __log:=/home/sxy/.ros/log/cf5d9f62-36f2-11ec-a896-b42e99a4d001/room_segmentation-room_segmentation_server-2.log].
log file: /home/sxy/.ros/log/cf5d9f62-36f2-11ec-a896-b42e99a4d001/room_segmentation-room_segmentation_server-2*.log
[room_segmentation/room_segmentation_server-2] restarting process
process[room_segmentation/room_segmentation_server-2]: started with pid [19306]
room_segmentation_action_client:
It provided same information as before.

Does this happen with a specific map or with every map?