Segmentation fault when running make check

[Fredrik Bjerkås]

Hello, I experience segmentation faults when running the make check.

Test project /home/fbjerkas/src/gtsam/build
        Start   1: testArgument
  1/230 Test   #1: testArgument ...........................   Passed    0.00 sec
        Start   2: testClass
  2/230 Test   #2: testClass ..............................   Passed    0.00 sec
        Start   3: testGlobalFunction
  3/230 Test   #3: testGlobalFunction .....................   Passed    0.00 sec
        Start   4: testMethod
  4/230 Test   #4: testMethod .............................   Passed    0.00 sec
        Start   5: testReturnValue
  5/230 Test   #5: testReturnValue ........................   Passed    0.00 sec
        Start   6: testSpirit
  6/230 Test   #6: testSpirit .............................   Passed    0.00 sec
        Start   7: testTemplate
  7/230 Test   #7: testTemplate ...........................   Passed    0.00 sec
        Start   8: testType
  8/230 Test   #8: testType ...............................   Passed    0.00 sec
        Start   9: testWrap
  9/230 Test   #9: testWrap ...............................   Passed    0.01 sec
        Start  10: testCholesky
 10/230 Test  #10: testCholesky ...........................***Exception: SegFault  0.10 sec

        Start  11: testDSFVector
 11/230 Test  #11: testDSFVector ..........................***Exception: SegFault  0.10 sec

        Start  12: testDebug
 12/230 Test  #12: testDebug ..............................***Exception: SegFault  0.10 sec

        Start  13: testFastContainers
 13/230 Test  #13: testFastContainers .....................***Exception: SegFault  0.12 sec

        Start  14: testGroup
 14/230 Test  #14: testGroup ..............................***Exception: SegFault  0.11 sec

        Start  15: testLieMatrix
 15/230 Test  #15: testLieMatrix ..........................***Exception: SegFault  0.10 sec

        Start  16: testLieScalar
 16/230 Test  #16: testLieScalar ..........................***Exception: SegFault  0.10 sec

        Start  17: testLieVector
 17/230 Test  #17: testLieVector ..........................***Exception: SegFault  0.11 sec

        Start  18: testMatrix
 18/230 Test  #18: testMatrix .............................***Exception: SegFault  0.10 sec

        Start  19: testNumericalDerivative
 19/230 Test  #19: testNumericalDerivative ................***Exception: SegFault  0.10 sec

        Start  20: testOptionalJacobian
 20/230 Test  #20: testOptionalJacobian ...................***Exception: SegFault  0.11 sec

        Start  21: testSerializationBase
 21/230 Test  #21: testSerializationBase ..................***Exception: SegFault  0.11 sec

        Start  22: testSymmetricBlockMatrix
 22/230 Test  #22: testSymmetricBlockMatrix ...............***Exception: SegFault  0.10 sec

        Start  23: testTestableAssertions
 23/230 Test  #23: testTestableAssertions .................***Exception: SegFault  0.11 sec

        Start  24: testTreeTraversal
 24/230 Test  #24: testTreeTraversal ......................***Exception: SegFault  0.10 sec

        Start  25: testVector
 25/230 Test  #25: testVector .............................***Exception: SegFault  0.11 sec

        Start  26: testVerticalBlockMatrix
 26/230 Test  #26: testVerticalBlockMatrix ................***Exception: SegFault  0.11 sec

        Start  27: testBearingRange
 27/230 Test  #27: testBearingRange .......................***Exception: SegFault  0.11 sec

        Start  28: testCal3Bundler
 28/230 Test  #28: testCal3Bundler ........................***Exception: SegFault  0.11 sec

        Start  29: testCal3DS2
 29/230 Test  #29: testCal3DS2 ............................***Exception: SegFault  0.11 sec

        Start  30: testCal3Unified
 30/230 Test  #30: testCal3Unified ........................***Exception: SegFault  0.10 sec

        Start  31: testCal3_S2
 31/230 Test  #31: testCal3_S2 ............................***Exception: SegFault  0.11 sec

        Start  32: testCalibratedCamera
 32/230 Test  #32: testCalibratedCamera ...................***Exception: SegFault  0.10 sec

        Start  33: testCameraSet
 33/230 Test  #33: testCameraSet ..........................***Exception: SegFault  0.11 sec

        Start  34: testCyclic
 34/230 Test  #34: testCyclic .............................***Exception: SegFault  0.10 sec

        Start  35: testEssentialMatrix
 35/230 Test  #35: testEssentialMatrix ....................***Exception: SegFault  0.10 sec

        Start  36: testOrientedPlane3
 36/230 Test  #36: testOrientedPlane3 .....................***Exception: SegFault  0.10 sec

        Start  37: testPinholeCamera
 37/230 Test  #37: testPinholeCamera ......................***Exception: SegFault  0.10 sec

        Start  38: testPinholePose
 38/230 Test  #38: testPinholePose ........................***Exception: SegFault  0.10 sec

        Start  39: testPinholeSet
 39/230 Test  #39: testPinholeSet .........................***Exception: SegFault  0.11 sec

        Start  40: testPoint2
 40/230 Test  #40: testPoint2 .............................***Exception: SegFault  0.11 sec

        Start  41: testPoint3
 41/230 Test  #41: testPoint3 .............................***Exception: SegFault  0.10 sec

        Start  42: testPose2
 42/230 Test  #42: testPose2 ..............................***Exception: SegFault  0.10 sec

        Start  43: testPose3
 43/230 Test  #43: testPose3 ..............................***Exception: SegFault  0.10 sec

        Start  44: testQuaternion
 44/230 Test  #44: testQuaternion .........................***Exception: SegFault  0.10 sec

        Start  45: testRot2
 45/230 Test  #45: testRot2 ...............................***Exception: SegFault  0.10 sec

        Start  46: testRot3
 46/230 Test  #46: testRot3 ...............................***Exception: SegFault  0.10 sec

        Start  47: testRot3M
 47/230 Test  #47: testRot3M ..............................***Exception: SegFault  0.10 sec

        Start  48: testRot3Q
 48/230 Test  #48: testRot3Q ..............................***Exception: SegFault  0.10 sec

        Start  49: testSO3
 49/230 Test  #49: testSO3 ................................***Exception: SegFault  0.10 sec

        Start  50: testSerializationGeometry
 50/230 Test  #50: testSerializationGeometry ..............***Exception: SegFault  0.11 sec

        Start  51: testSimpleCamera
 51/230 Test  #51: testSimpleCamera .......................***Exception: SegFault  0.11 sec

        Start  52: testStereoCamera
 52/230 Test  #52: testStereoCamera .......................***Exception: SegFault  0.11 sec

        Start  53: testStereoPoint2
 53/230 Test  #53: testStereoPoint2 .......................***Exception: SegFault  0.11 sec

        Start  54: testTriangulation
 54/230 Test  #54: testTriangulation ......................***Exception: SegFault  0.10 sec

        Start  55: testUnit3
 55/230 Test  #55: testUnit3 ..............................***Exception: SegFault  0.10 sec

        Start  56: testKey
 56/230 Test  #56: testKey ................................***Exception: SegFault  0.11 sec

        Start  57: testLabeledSymbol
 57/230 Test  #57: testLabeledSymbol ......................***Exception: SegFault  0.11 sec

        Start  58: testOrdering
 58/230 Test  #58: testOrdering ...........................***Exception: SegFault  0.10 sec

        Start  59: testVariableSlots
 59/230 Test  #59: testVariableSlots ......................***Exception: SegFault  0.10 sec

        Start  60: testSerializationSymbolic
 60/230 Test  #60: testSerializationSymbolic ..............***Exception: SegFault  0.11 sec

        Start  61: testSymbolicBayesNet
 61/230 Test  #61: testSymbolicBayesNet ...................***Exception: SegFault  0.11 sec

        Start  62: testSymbolicBayesTree
 62/230 Test  #62: testSymbolicBayesTree ..................***Exception: SegFault  0.11 sec

        Start  63: testSymbolicConditional
 63/230 Test  #63: testSymbolicConditional ................***Exception: SegFault  0.10 sec

        Start  64: testSymbolicEliminationTree
 64/230 Test  #64: testSymbolicEliminationTree ............***Exception: SegFault  0.10 sec

        Start  65: testSymbolicFactor
 65/230 Test  #65: testSymbolicFactor .....................***Exception: SegFault  0.10 sec

        Start  66: testSymbolicFactorGraph
 66/230 Test  #66: testSymbolicFactorGraph ................***Exception: SegFault  0.10 sec

        Start  67: testSymbolicISAM
 67/230 Test  #67: testSymbolicISAM .......................***Exception: SegFault  0.10 sec

        Start  68: testSymbolicJunctionTree
 68/230 Test  #68: testSymbolicJunctionTree ...............***Exception: SegFault  0.10 sec

        Start  69: testVariableIndex
 69/230 Test  #69: testVariableIndex ......................***Exception: SegFault  0.10 sec

        Start  70: testAlgebraicDecisionTree
 70/230 Test  #70: testAlgebraicDecisionTree ..............***Exception: SegFault  0.11 sec

        Start  71: testDecisionTree
 71/230 Test  #71: testDecisionTree .......................***Exception: SegFault  0.10 sec

        Start  72: testDecisionTreeFactor
 72/230 Test  #72: testDecisionTreeFactor .................***Exception: SegFault  0.10 sec

        Start  73: testDiscreteBayesNet
 73/230 Test  #73: testDiscreteBayesNet ...................***Exception: SegFault  0.11 sec

        Start  74: testDiscreteBayesTree
 74/230 Test  #74: testDiscreteBayesTree ..................***Exception: SegFault  0.11 sec

        Start  75: testDiscreteConditional
 75/230 Test  #75: testDiscreteConditional ................***Exception: SegFault  0.10 sec

        Start  76: testDiscreteFactor
 76/230 Test  #76: testDiscreteFactor .....................***Exception: SegFault  0.11 sec

        Start  77: testDiscreteFactorGraph
 77/230 Test  #77: testDiscreteFactorGraph ................***Exception: SegFault  0.11 sec

        Start  78: testDiscreteMarginals
 78/230 Test  #78: testDiscreteMarginals ..................***Exception: SegFault  0.10 sec

        Start  79: testSignature
 79/230 Test  #79: testSignature ..........................***Exception: SegFault  0.10 sec

        Start  80: testErrors
 80/230 Test  #80: testErrors .............................***Exception: SegFault  0.10 sec

        Start  81: testGaussianBayesNet
 81/230 Test  #81: testGaussianBayesNet ...................***Exception: SegFault  0.10 sec

        Start  82: testGaussianBayesTree
 82/230 Test  #82: testGaussianBayesTree ..................***Exception: SegFault  0.11 sec

        Start  83: testGaussianConditional
 83/230 Test  #83: testGaussianConditional ................***Exception: SegFault  0.10 sec

        Start  84: testGaussianDensity
 84/230 Test  #84: testGaussianDensity ....................***Exception: SegFault  0.10 sec

        Start  85: testGaussianFactorGraph
 85/230 Test  #85: testGaussianFactorGraph ................***Exception: SegFault  0.10 sec

        Start  86: testHessianFactor
 86/230 Test  #86: testHessianFactor ......................***Exception: SegFault  0.10 sec

        Start  87: testJacobianFactor
 87/230 Test  #87: testJacobianFactor .....................***Exception: SegFault  0.10 sec

        Start  88: testKalmanFilter
 88/230 Test  #88: testKalmanFilter .......................***Exception: SegFault  0.10 sec

        Start  89: testNoiseModel
 89/230 Test  #89: testNoiseModel .........................***Exception: SegFault  0.10 sec

        Start  90: testRegularHessianFactor
 90/230 Test  #90: testRegularHessianFactor ...............***Exception: SegFault  0.10 sec

        Start  91: testRegularJacobianFactor
 91/230 Test  #91: testRegularJacobianFactor ..............***Exception: SegFault  0.10 sec

        Start  92: testSampler
 92/230 Test  #92: testSampler ............................***Exception: SegFault  0.11 sec

        Start  93: testScatter
 93/230 Test  #93: testScatter ............................***Exception: SegFault  0.11 sec

        Start  94: testSerializationLinear
 94/230 Test  #94: testSerializationLinear ................***Exception: SegFault  0.11 sec

        Start  95: testVectorValues
 95/230 Test  #95: testVectorValues .......................***Exception: SegFault  0.10 sec

        Start  96: testAdaptAutoDiff
 96/230 Test  #96: testAdaptAutoDiff ......................***Exception: SegFault  0.10 sec

        Start  97: testCallRecord
 97/230 Test  #97: testCallRecord .........................***Exception: SegFault  0.10 sec

        Start  98: testExecutionTrace
 98/230 Test  #98: testExecutionTrace .....................***Exception: SegFault  0.10 sec

        Start  99: testExpression
 99/230 Test  #99: testExpression .........................***Exception: SegFault  0.10 sec

        Start 100: testLinearContainerFactor
100/230 Test #100: testLinearContainerFactor ..............***Exception: SegFault  0.10 sec

        Start 101: testSerializationNonlinear
101/230 Test #101: testSerializationNonlinear .............***Exception: SegFault  0.11 sec

        Start 102: testValues
102/230 Test #102: testValues .............................***Exception: SegFault  0.11 sec

        Start 103: testWhiteNoiseFactor
103/230 Test #103: testWhiteNoiseFactor ...................***Exception: SegFault  0.11 sec

        Start 104: testBearingFactor
104/230 Test #104: testBearingFactor ......................***Exception: SegFault  0.11 sec

        Start 105: testBearingRangeFactor
105/230 Test #105: testBearingRangeFactor .................***Exception: SegFault  0.11 sec

        Start 106: testRangeFactor
106/230 Test #106: testRangeFactor ........................***Exception: SegFault  0.11 sec

        Start 107: testAntiFactor
107/230 Test #107: testAntiFactor .........................***Exception: SegFault  0.11 sec

        Start 108: testBetweenFactor
108/230 Test #108: testBetweenFactor ......................***Exception: SegFault  0.11 sec

        Start 109: testDataset
109/230 Test #109: testDataset ............................***Exception: SegFault  0.11 sec

        Start 110: testEssentialMatrixConstraint
110/230 Test #110: testEssentialMatrixConstraint ..........***Exception: SegFault  0.12 sec

        Start 111: testEssentialMatrixFactor
111/230 Test #111: testEssentialMatrixFactor ..............***Exception: SegFault  0.10 sec

        Start 112: testGeneralSFMFactor
112/230 Test #112: testGeneralSFMFactor ...................***Exception: SegFault  0.10 sec

        Start 113: testGeneralSFMFactor_Cal3Bundler
113/230 Test #113: testGeneralSFMFactor_Cal3Bundler .......***Exception: SegFault  0.10 sec

        Start 114: testInitializePose3
114/230 Test #114: testInitializePose3 ....................***Exception: SegFault  0.10 sec

        Start 115: testLago
115/230 Test #115: testLago ...............................***Exception: SegFault  0.10 sec

        Start 116: testOrientedPlane3Factor
116/230 Test #116: testOrientedPlane3Factor ...............***Exception: SegFault  0.10 sec

        Start 117: testPoseRotationPrior
117/230 Test #117: testPoseRotationPrior ..................***Exception: SegFault  0.10 sec

        Start 118: testPoseTranslationPrior
118/230 Test #118: testPoseTranslationPrior ...............***Exception: SegFault  0.11 sec

        Start 119: testPriorFactor
119/230 Test #119: testPriorFactor ........................***Exception: SegFault  0.11 sec

        Start 120: testProjectionFactor
120/230 Test #120: testProjectionFactor ...................***Exception: SegFault  0.10 sec

        Start 121: testReferenceFrameFactor
121/230 Test #121: testReferenceFrameFactor ...............***Exception: SegFault  0.11 sec

        Start 122: testRegularImplicitSchurFactor
122/230 Test #122: testRegularImplicitSchurFactor .........***Exception: SegFault  0.10 sec

        Start 123: testRotateFactor
123/230 Test #123: testRotateFactor .......................***Exception: SegFault  0.11 sec

        Start 124: testSlamExpressions
124/230 Test #124: testSlamExpressions ....................***Exception: SegFault  0.11 sec

        Start 125: testSmartFactorBase
125/230 Test #125: testSmartFactorBase ....................***Exception: SegFault  0.10 sec

        Start 126: testSmartProjectionCameraFactor
126/230 Test #126: testSmartProjectionCameraFactor ........***Exception: SegFault  0.10 sec

        Start 127: testSmartProjectionPoseFactor
127/230 Test #127: testSmartProjectionPoseFactor ..........***Exception: SegFault  0.11 sec

        Start 128: testStereoFactor
128/230 Test #128: testStereoFactor .......................***Exception: SegFault  0.12 sec

        Start 129: testTriangulationFactor
129/230 Test #129: testTriangulationFactor ................***Exception: SegFault  0.11 sec

        Start 130: testAHRSFactor
130/230 Test #130: testAHRSFactor .........................***Exception: SegFault  0.11 sec

        Start 131: testAttitudeFactor
131/230 Test #131: testAttitudeFactor .....................***Exception: SegFault  0.12 sec

        Start 132: testCombinedImuFactor
132/230 Test #132: testCombinedImuFactor ..................***Exception: SegFault  0.10 sec

        Start 133: testImuBias
133/230 Test #133: testImuBias ............................***Exception: SegFault  0.11 sec

        Start 134: testImuFactor
134/230 Test #134: testImuFactor ..........................***Exception: SegFault  0.11 sec

        Start 135: testImuFactorSerialization
135/230 Test #135: testImuFactorSerialization .............***Exception: SegFault  0.11 sec

        Start 136: testManifoldPreintegration
136/230 Test #136: testManifoldPreintegration .............***Exception: SegFault  0.10 sec

        Start 137: testNavState
137/230 Test #137: testNavState ...........................***Exception: SegFault  0.10 sec

        Start 138: testPoseVelocityBias
138/230 Test #138: testPoseVelocityBias ...................***Exception: SegFault  0.11 sec

        Start 139: testScenario
139/230 Test #139: testScenario ...........................***Exception: SegFault  0.10 sec

        Start 140: testScenarios
140/230 Test #140: testScenarios ..........................***Exception: SegFault  0.10 sec

        Start 141: testTangentPreintegration
141/230 Test #141: testTangentPreintegration ..............***Exception: SegFault  0.10 sec

        Start 142: testBoundingConstraint
142/230 Test #142: testBoundingConstraint .................***Exception: SegFault  0.10 sec

        Start 143: testDoglegOptimizer
143/230 Test #143: testDoglegOptimizer ....................***Exception: SegFault  0.11 sec

        Start 144: testExpressionFactor
144/230 Test #144: testExpressionFactor ...................***Exception: SegFault  0.11 sec

        Start 145: testExtendedKalmanFilter
145/230 Test #145: testExtendedKalmanFilter ...............***Exception: SegFault  0.10 sec

        Start 146: testGaussianBayesTreeB
146/230 Test #146: testGaussianBayesTreeB .................***Exception: SegFault  0.11 sec

        Start 147: testGaussianFactorGraphB
147/230 Test #147: testGaussianFactorGraphB ...............***Exception: SegFault  0.10 sec

        Start 148: testGaussianISAM
148/230 Test #148: testGaussianISAM .......................***Exception: SegFault  0.11 sec

        Start 149: testGaussianISAM2
149/230 Test #149: testGaussianISAM2 ......................***Exception: SegFault  0.11 sec

        Start 150: testGaussianJunctionTreeB
150/230 Test #150: testGaussianJunctionTreeB ..............***Exception: SegFault  0.10 sec

        Start 151: testGeneralSFMFactorB
151/230 Test #151: testGeneralSFMFactorB ..................***Exception: SegFault  0.11 sec

        Start 152: testGradientDescentOptimizer
152/230 Test #152: testGradientDescentOptimizer ...........***Exception: SegFault  0.10 sec

        Start 153: testGraph
153/230 Test #153: testGraph ..............................***Exception: SegFault  0.10 sec

        Start 154: testIterative
154/230 Test #154: testIterative ..........................***Exception: SegFault  0.11 sec

        Start 155: testLie
155/230 Test #155: testLie ................................***Exception: SegFault  0.11 sec

        Start 156: testManifold
156/230 Test #156: testManifold ...........................***Exception: SegFault  0.10 sec

        Start 157: testMarginals
157/230 Test #157: testMarginals ..........................***Exception: SegFault  0.10 sec

        Start 158: testNonlinearEquality
158/230 Test #158: testNonlinearEquality ..................***Exception: SegFault  0.11 sec

        Start 159: testNonlinearFactor
159/230 Test #159: testNonlinearFactor ....................***Exception: SegFault  0.10 sec

        Start 160: testNonlinearFactorGraph
160/230 Test #160: testNonlinearFactorGraph ...............***Exception: SegFault  0.10 sec

        Start 161: testNonlinearISAM
161/230 Test #161: testNonlinearISAM ......................***Exception: SegFault  0.10 sec

        Start 162: testNonlinearOptimizer
162/230 Test #162: testNonlinearOptimizer .................***Exception: SegFault  0.10 sec

        Start 163: testPCGSolver
163/230 Test #163: testPCGSolver ..........................***Exception: SegFault  0.10 sec

        Start 164: testPreconditioner
164/230 Test #164: testPreconditioner .....................***Exception: SegFault  0.11 sec

        Start 165: testRot3Optimization
165/230 Test #165: testRot3Optimization ...................***Exception: SegFault  0.11 sec

        Start 166: testSerializationSLAM
166/230 Test #166: testSerializationSLAM ..................***Exception: SegFault  0.11 sec

        Start 167: testSimulated2D
167/230 Test #167: testSimulated2D ........................***Exception: SegFault  0.10 sec

        Start 168: testSimulated2DOriented
168/230 Test #168: testSimulated2DOriented ................***Exception: SegFault  0.10 sec

        Start 169: testSimulated3D
169/230 Test #169: testSimulated3D ........................***Exception: SegFault  0.10 sec

        Start 170: testSubgraphPreconditioner
170/230 Test #170: testSubgraphPreconditioner .............***Exception: SegFault  0.11 sec

        Start 171: testSubgraphSolver
171/230 Test #171: testSubgraphSolver .....................***Exception: SegFault  0.10 sec

        Start 172: testBTree
172/230 Test #172: testBTree ..............................***Exception: SegFault  0.10 sec

        Start 173: testDSF
173/230 Test #173: testDSF ................................***Exception: SegFault  0.10 sec

        Start 174: testDSFMap
174/230 Test #174: testDSFMap .............................***Exception: SegFault  0.11 sec

        Start 175: testFixedVector
175/230 Test #175: testFixedVector ........................***Exception: SegFault  0.11 sec

        Start 176: testBearingS2
176/230 Test #176: testBearingS2 ..........................***Exception: SegFault  0.11 sec

        Start 177: testEvent
177/230 Test #177: testEvent ..............................***Exception: SegFault  0.11 sec

        Start 178: testInvDepthCamera3
178/230 Test #178: testInvDepthCamera3 ....................***Exception: SegFault  0.11 sec

        Start 179: testPose3Upright
179/230 Test #179: testPose3Upright .......................***Exception: SegFault  0.11 sec

        Start 180: testSimPolygon2D
180/230 Test #180: testSimPolygon2D .......................***Exception: SegFault  0.11 sec

        Start 181: testSimWall2D
181/230 Test #181: testSimWall2D ..........................***Exception: SegFault  0.11 sec

        Start 182: testSimilarity3
182/230 Test #182: testSimilarity3 ........................***Exception: SegFault  0.10 sec

        Start 183: testLPSolver
183/230 Test #183: testLPSolver ...........................***Exception: SegFault  0.11 sec

        Start 184: testLinearEquality
184/230 Test #184: testLinearEquality .....................***Exception: SegFault  0.10 sec

        Start 185: testQPSolver
185/230 Test #185: testQPSolver ...........................***Exception: SegFault  0.10 sec

        Start 186: testCSP
186/230 Test #186: testCSP ................................***Exception: SegFault  0.10 sec

        Start 187: testLoopyBelief
187/230 Test #187: testLoopyBelief ........................***Exception: SegFault  0.10 sec

        Start 188: testPlanning
188/230 Test #188: testPlanning ...........................***Exception: SegFault  0.10 sec

        Start 189: testScheduler
189/230 Test #189: testScheduler ..........................***Exception: SegFault  0.10 sec

        Start 190: testSudoku
190/230 Test #190: testSudoku .............................***Exception: SegFault  0.10 sec

        Start 191: testIMUSystem
191/230 Test #191: testIMUSystem ..........................***Exception: SegFault  0.10 sec

        Start 192: testPendulumFactors
192/230 Test #192: testPendulumFactors ....................***Exception: SegFault  0.10 sec

        Start 193: testPoseRTV
193/230 Test #193: testPoseRTV ............................***Exception: SegFault  0.11 sec

        Start 194: testSimpleHelicopter
194/230 Test #194: testSimpleHelicopter ...................***Exception: SegFault  0.11 sec

        Start 195: testVelocityConstraint
195/230 Test #195: testVelocityConstraint .................***Exception: SegFault  0.11 sec

        Start 196: testVelocityConstraint3
196/230 Test #196: testVelocityConstraint3 ................***Exception: SegFault  0.11 sec

        Start 197: testBatchFixedLagSmoother
197/230 Test #197: testBatchFixedLagSmoother ..............***Exception: SegFault  0.10 sec

        Start 198: testConcurrentBatchFilter
198/230 Test #198: testConcurrentBatchFilter ..............***Exception: SegFault  0.11 sec

        Start 199: testConcurrentBatchSmoother
199/230 Test #199: testConcurrentBatchSmoother ............***Exception: SegFault  0.11 sec

        Start 200: testConcurrentIncrementalFilter
200/230 Test #200: testConcurrentIncrementalFilter ........***Exception: SegFault  0.11 sec

        Start 201: testConcurrentIncrementalSmootherDL
201/230 Test #201: testConcurrentIncrementalSmootherDL ....***Exception: SegFault  0.11 sec

        Start 202: testConcurrentIncrementalSmootherGN
202/230 Test #202: testConcurrentIncrementalSmootherGN ....***Exception: SegFault  0.10 sec

        Start 203: testIncrementalFixedLagSmoother
203/230 Test #203: testIncrementalFixedLagSmoother ........***Exception: SegFault  0.10 sec

        Start 204: testLinearizedFactor
204/230 Test #204: testLinearizedFactor ...................***Exception: SegFault  0.10 sec

        Start 205: testNonlinearClusterTree
205/230 Test #205: testNonlinearClusterTree ...............***Exception: SegFault  0.10 sec

        Start 206: testParticleFactor
206/230 Test #206: testParticleFactor .....................***Exception: SegFault  0.10 sec

        Start 207: testAHRS
207/230 Test #207: testAHRS ...............................***Exception: SegFault  0.10 sec

        Start 208: testBetweenFactorEM
208/230 Test #208: testBetweenFactorEM ....................***Exception: SegFault  0.10 sec

        Start 209: testBiasedGPSFactor
209/230 Test #209: testBiasedGPSFactor ....................***Exception: SegFault  0.10 sec

        Start 210: testDummyFactor
210/230 Test #210: testDummyFactor ........................***Exception: SegFault  0.10 sec

        Start 211: testEquivInertialNavFactor_GlobalVel
211/230 Test #211: testEquivInertialNavFactor_GlobalVel ...***Exception: SegFault  0.10 sec

        Start 212: testGaussMarkov1stOrderFactor
212/230 Test #212: testGaussMarkov1stOrderFactor ..........***Exception: SegFault  0.10 sec

        Start 213: testInertialNavFactor_GlobalVelocity
213/230 Test #213: testInertialNavFactor_GlobalVelocity ...***Exception: SegFault  0.11 sec

        Start 214: testInvDepthFactor3
214/230 Test #214: testInvDepthFactor3 ....................***Exception: SegFault  0.11 sec

        Start 215: testInvDepthFactorVariant1
215/230 Test #215: testInvDepthFactorVariant1 .............***Exception: SegFault  0.10 sec

        Start 216: testInvDepthFactorVariant2
216/230 Test #216: testInvDepthFactorVariant2 .............***Exception: SegFault  0.11 sec

        Start 217: testInvDepthFactorVariant3
217/230 Test #217: testInvDepthFactorVariant3 .............***Exception: SegFault  0.11 sec

        Start 218: testMultiProjectionFactor
218/230 Test #218: testMultiProjectionFactor ..............***Exception: SegFault  0.11 sec

        Start 219: testOccupancyGrid
219/230 Test #219: testOccupancyGrid ......................***Exception: SegFault  0.10 sec

        Start 220: testPoseBetweenFactor
220/230 Test #220: testPoseBetweenFactor ..................***Exception: SegFault  0.10 sec

        Start 221: testPosePriorFactor
221/230 Test #221: testPosePriorFactor ....................***Exception: SegFault  0.10 sec

        Start 222: testProjectionFactorPPP
222/230 Test #222: testProjectionFactorPPP ................***Exception: SegFault  0.10 sec

        Start 223: testProjectionFactorPPPC
223/230 Test #223: testProjectionFactorPPPC ...............***Exception: SegFault  0.10 sec

        Start 224: testRelativeElevationFactor
224/230 Test #224: testRelativeElevationFactor ............***Exception: SegFault  0.10 sec

        Start 225: testSmartRangeFactor
225/230 Test #225: testSmartRangeFactor ...................***Exception: SegFault  0.10 sec

        Start 226: testSmartStereoProjectionPoseFactor
226/230 Test #226: testSmartStereoProjectionPoseFactor ....***Exception: SegFault  0.11 sec

        Start 227: testTOAFactor
227/230 Test #227: testTOAFactor ..........................***Exception: SegFault  0.11 sec

        Start 228: testTSAMFactors
228/230 Test #228: testTSAMFactors ........................***Exception: SegFault  0.11 sec

        Start 229: testTransformBtwRobotsUnaryFactor
229/230 Test #229: testTransformBtwRobotsUnaryFactor ......***Exception: SegFault  0.10 sec

        Start 230: testTransformBtwRobotsUnaryFactorEM
230/230 Test #230: testTransformBtwRobotsUnaryFactorEM ....***Exception: SegFault  0.10 sec


4% tests passed, 221 tests failed out of 230

Total Test time (real) =  23.07 sec

.
.
.

Errors while running CTest
CMakeFiles/check.dir/build.make:57: recipe for target 'CMakeFiles/check' failed
make[3]: *** [CMakeFiles/check] Error 8
CMakeFiles/Makefile2:635: recipe for target 'CMakeFiles/check.dir/all' failed
make[2]: *** [CMakeFiles/check.dir/all] Error 2
CMakeFiles/Makefile2:642: recipe for target 'CMakeFiles/check.dir/rule' failed
make[1]: *** [CMakeFiles/check.dir/rule] Error 2
Makefile:223: recipe for target 'check' failed
make: *** [check] Error 2

I ran some of the tests in gdb, and all of them failed with the same output:

Program received signal SIGSEGV, Segmentation fault.
0x00007ffff7a68b87 in gtsam::noiseModel::Constrained::Constrained(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&) ()
   from /home/fbjerkas/src/gtsam/build/gtsam/libgtsam.so.4

I am on Ubuntu 18.04, and this is my cmake output:

cmake ..
-- The CXX compiler identification is GNU 7.3.0
-- The C compiler identification is GNU 7.3.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- GTSAM_SOURCE_ROOT_DIR: [/home/fbjerkas/src/gtsam]
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   serialization
--   system
--   filesystem
--   thread
--   program_options
--   date_time
--   timer
--   chrono
--   regex
--   atomic
Ignoring Boost restriction on optional lvalue assignment from rvalues
-- Found Intel TBB
-- Found MKL: /opt/intel/mkl/include  
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
  if given arguments:

    "TRUE"

  An argument named "TRUE" appears in a conditional statement.  Policy
  CMP0012 is not set: if() recognizes numbers and boolean constants.  Run
  "cmake --help-policy CMP0012" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
  CMakeLists.txt:218 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found OpenMP_C: -fopenmp  
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
  if given arguments:

    "TRUE"

  An argument named "TRUE" appears in a conditional statement.  Policy
  CMP0012 is not set: if() recognizes numbers and boolean constants.  Run
  "cmake --help-policy CMP0012" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
  CMakeLists.txt:218 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found OpenMP_CXX: -fopenmp  
-- Found OpenMP: TRUE   
-- Building 3rdparty
-- Looking for execinfo.h
-- Looking for execinfo.h - found
-- Looking for getline
-- Looking for getline - found
-- checking for thread-local storage - found
-- Could NOT find GeographicLib (missing: GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS) 
-- Building base
-- Building geometry
-- Building inference
-- Building symbolic
-- Building discrete
-- Building linear
-- Building nonlinear
-- Building sam
-- Building sfm
-- Building slam
-- Building smart
-- Building navigation
-- GTSAM Version: 4.0.0
-- Install prefix: /usr/local
-- Building GTSAM - shared
-- Building wrap module gtsam
-- Installing Matlab Toolbox to /usr/local/gtsam_toolbox
-- Building base_unstable
-- Building geometry_unstable
-- Building linear_unstable
-- Building discrete_unstable
-- Building dynamics_unstable
-- Building nonlinear_unstable
-- Building slam_unstable
-- GTSAM_UNSTABLE Version: 4.0.0
-- Install prefix: /usr/local
-- Building GTSAM_UNSTABLE - shared
-- Building wrap module gtsam_unstable
-- Installing Matlab Toolbox to /usr/local/gtsam_toolbox
-- Found PythonInterp: /usr/bin/python (found version "2.7.15") 
-- Found Cython: ['/usr/lib/python2.7/dist-packages/Cython'] (found suitable version "0.26.1", minimum required is "0.25.2") 
-- Cythonize and build eigency
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython2.7.so (found suitable version "2.7.15rc1", minimum required is "2.7") 
-- Found NumPy: version "1.13.3" /usr/lib/python2.7/dist-packages/numpy/core/include
-- Cython wrapper generating gtsam.pyx
-- Cythonize and build gtsam.pyx
-- Installing Cython Toolbox to /usr/local/cython/gtsam
-- Cython wrapper generating gtsam_unstable.pyx
-- Cythonize and build gtsam_unstable.pyx
-- Installing Cython Toolbox to /usr/local/cython/gtsam
-- Wrote /home/fbjerkas/src/gtsam/build/GTSAMConfig.cmake
-- Found Doxygen: /usr/bin/doxygen (found version "1.8.13") found components:  doxygen missing components:  dot
-- ===============================================================
-- ================  Configuration Options  ======================
--   CMAKE_CXX_COMPILER_ID type     : GNU
--   CMAKE_CXX_COMPILER_VERSION     : 7.3.0
-- Build flags                                               
--   Build Tests                    : Enabled
--   Build examples with 'make all' : Enabled
--   Build timing scripts with 'make all': Disabled
--   Build Docs                     : Enabled
--   Build static GTSAM library instead of shared: Disabled
--   Put build type in library name : Enabled
--   Build libgtsam_unstable        : Enabled
--   Build type                     : Release
--   C compilation flags            :  -std=c11   -Wall -O3 -DNDEBUG    -O3 -DNDEBUG
--   C++ compilation flags          :  -std=c++11 -Wall -fopenmp -O3 -DNDEBUG    -O3 -DNDEBUG
--   Use System Eigen               : No
--   Use Intel TBB                  : Yes
--   Eigen will use MKL             : Yes
--   Eigen will use MKL and OpenMP  : Yes
--   Default allocator              : TBB
-- Packaging flags                                               
--   CPack Source Generator         : TGZ
--   CPack Generator                : TGZ
-- GTSAM flags                                               
--   Quaternions as default Rot3     : Disabled
--   Runtime consistency checking    : Disabled
--   Rot3 retract is full ExpMap     : Disabled
--   Pose3 retract is full ExpMap    : Disabled
--   Deprecated in GTSAM 4 allowed   : Disabled
--   Point3 is typedef to Vector3    : Disabled
--   Metis-based Nested Dissection   : Enabled
--   Use tangent-space preintegration: Enabled
-- MATLAB toolbox flags                                      
--   Install matlab toolbox         : Enabled
--   Build Wrap                     : Enabled
-- Python module flags                                       
--   Build python module            : Disabled
-- Cython toolbox flags                                      
--   Install Cython toolbox         : Enabled
--   Build Wrap                     : Enabled
-- ===============================================================
-- Configuring done
-- Generating done
-- Build files have been written to: /home/fbjerkas/src/gtsam/build

[Fredrik Bjerkås]

Building with system Eigen works.

[Chris Beall]

My guess is this is caused by MKL. Does the problem also go away when you set GTSAM_WITH_EIGEN_MKL and GTSAM_WITH_EIGEN_MKL_OPENMP to OFF? I'm seeing the same failures when I try to run with MKL. Interesting that the problem goes away for you when you use system eigen.

[Fredrik Bjerkås]

That works too.

[Lachlan Nicholson]

I recently encountered this same issue.

Compiling with MKL/OpenMP causes a segfault when the shared library is used.

Digging around with git bisect shows that this issue is apparent from commit (e37ff1e1058a15f564b8a38efb72e264c4fff808 "Switched to Eigen 3.3.4") onwards.

Possible work arounds include using system Eigen, compiling without MKL/OpenMP, or reverting to gtsam prior to this commit.

[Chris Beall]

I looked into it a bit, and found the issue, which is already fixed in Eigen 3.3.5. https://bitbucket.org/eigen/eigen/commits/972424860545 http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527

Tests pass for me when I apply that patch to 3.3.4. We can apply that patch to our 3.3.4, but I would prefer to just upgrade to 3.3.5 @dellaert

Fyi: for all the problems I've tried, using MKL + OpenMP was actually slower. In my experience, I saw best performance with just TBB; 30-40% speedup compared to baseline. However, recent versions of MKL support TBB as an alternative to OpenMP, so I'm playing around with that, too.

[Frank Dellaert]

Sure, upgrade, but add in Readme that this is an issue before this version?

[Frank Dellaert]

Maybe even adding CMAKE magic that warns user about the issue with combination of flags?

[Frank Dellaert]

Presumably solved in PR #351? Please re-open if not.