#800 causes Levenberg-Marquardt optimisation to crash

[hmellor]

Description

When updating to the latest commit of the develop branch my existing codebase that uses GTSAM started crashing when running LM.

There is no stack-trace, only an error saying the process has died:

[ERROR] [fgo-1]: process has died [pid 8821, exit code -11,
    cmd '/home/user/ros_ws/install/fgo/lib/fgo/fgo--ros-args -r __node:=fgo
    --params-file /tmp/launch_params__dkrh3ic --params-file /tmp/launch_params_8v56gi4f
    --params-file /tmp/launch_params_btvjwucu'].

I have narrowed it down to 6ee17c2 which comes from #800. Checking out the previous commit causes the program to no longer crash.

It may help to list some classes I'm using:

• NonlinearFactorGraph
• CombinedImuFactor
• GPSFactor

Expected behavior

Should not crash

Environment

• OS
  • Distributor ID: Ubuntu
  • Description: Ubuntu 20.04.2 LTS
  • Release: 20.04
  • Codename: focal
• ROS
  • Foxy
• TBB Version (relevant to replace deprecated tbb functionality #800)
  • libtbb-dev/focal,now 2020.1-2 amd64 [installed]
  • libtbb2/focal,now 2020.1-2 amd64 [installed,automatic]
• Language
  • C++

[ProfFan]

@acxz Could you take a look?

[ProfFan]

Also, @hmellor could you provide a minimal reproducer (one cpp file, no other dependencies)?

[dellaert]

@acxz this was your PR - could you weigh in? @hmellor thanks for letting us know the TBB versions you used.

[acxz]

This might be an issue similar to why the testGncOptimize test failed once out of 100 runs. I could take a deeper look into this issue with a minimal reproducing example.

In the meanwhile, it may be better to just revert my PR.