svo_ceres_backend library Runtime error

[rainlord]

when I run ceres with openmp was aborted by solve() with error of double free; The stack trace as fellow: so please tell me how should i to fix it? thanks alot! Is this related with Macro of eigen,because i set the Macro of -DEIGEN_MALLOC_ALREADY_ALIGNED=0.if i do not set the DEIGEN_MALLOC_ALREADY_ALIGNED ,my program will have error which is related with eigen alignment error. double free or corruption (out) *** SIGSEGV (@0x0) received by PID 9900 (TID 0x7efc7bfff700) from PID 0; stack trace: *** @ 0x7efcb8540f20 (unknown) @ 0x55cd9567d875 Eigen::internal::gemm_pack_lhs<>::operator()() @ 0x55cd9569c758 Eigen::internal::general_matrix_matrix_product<>::run() @ 0x7efcb671cc62 Eigen::internal::gemm_functor<>::operator()() @ 0x7efcb671babf Eigen::internal::parallelize_gemm<>() @ 0x7efcb671a859 Eigen::internal::generic_product_impl<>::scaleAndAddTo<>() @ 0x7efcb6719010 Eigen::internal::generic_product_impl<>::evalTo<>() @ 0x7efcb6717a26 Eigen::internal::Assignment<>::run() @ 0x7efcb6715ede Eigen::internal::call_assignment_no_alias<>() @ 0x7efcb6714352 Eigen::PlainObjectBase<>::_set_noalias<>() @ 0x7efcb671216f Eigen::PlainObjectBase<>::_init1<>() @ 0x7efcb671128e Eigen::Matrix<>::Matrix<>() @ 0x7efcb6710912 Eigen::internal::call_assignment<>() @ 0x7efcb670fc40 Eigen::internal::call_assignment<>() @ 0x7efcb670f273 Eigen::MatrixBase<>::operator=<>() @ 0x7efcb670e794 svo::ceres_backend::SpeedAndBiasError::EvaluateWithMinimalJacobians() @ 0x7efcb670e5e8 svo::ceres_backend::SpeedAndBiasError::Evaluate() @ 0x7efcae8e3735 ceres::internal::ResidualBlock::Evaluate() @ 0x7efcae9058e1 _ZN5ceres8internal16ProgramEvaluatorINS0_21BlockEvaluatePreparerENS0_19BlockJacobianWriterENS0_21NullJacobianFinalizerEE8EvaluateERKNS0_9Evaluator15EvaluateOptionsEPKdPdSC_SC_PNS0_12SparseMatrixE._omp_fn.2 @ 0x7efcae1a0edf GOMP_parallel @ 0x7efcae90737a ceres::internal::ProgramEvaluator<>::Evaluate() @ 0x7efcae91a10d ceres::internal::TrustRegionMinimizer::EvaluateGradientAndJacobian() @ 0x7efcae91aba2 ceres::internal::TrustRegionMinimizer::IterationZero() @ 0x7efcae91f504 ceres::internal::TrustRegionMinimizer::Minimize() @ 0x7efcae8f121d ceres::Solver::Solve() @ 0x7efcae8f20a9 ceres::Solve() @ 0x7efcb6563149 svo::ceres_backend::Map::solve() @ 0x7efcb655e2ed svo::Estimator::optimize() @ 0x7efcb64ecd06 svo::CeresBackendInterface::optimizationLoop() @ 0x7efcb6504766 std::__invoke_impl<>() @ 0x7efcb64fc9c3 std::__invoke<>() @ 0x7efcb6556b55 _ZNSt6thread8_InvokerISt5tupleIJMN3svo21CeresBackendInterfaceEFvvEPS3_EEE9_M_invokeIJLm0ELm1EEEEDTcl8__invokespcl10_S_declvalIXT_EEEEESt12_Index_tupleIJXspT_EEE

[haichuanW]

I have the same issue, do you manage to solve it?