failure when running a binary compiled with debugging on

[jarrodhaas]

Eigen will throw an error (below) when running calibrate_camera_intrinsics.cc built with debugging on, at least with MacOS 10.15.4 using cmake.

This appears to be caused by a race condition that emerges a debugging mode build, and can be circumvented by running with only 1 thread via the --num_threads=1 flag.

I have not known this issue to arise when not building in debugging mode.

Assertion failed: (rows == this->rows() && cols == this->cols() && "DenseBase::resize() does not actually allow to resize."), function resize, file /usr/local/include/eigen3/Eigen/src/Core/DenseBase.h, line 257. Abort trap: 6