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Fix some spurious startup crashes

Mateo de Mayo requested to merge mateosss/startup-crashes into xrtslam

@thaytan took the time to delve into these annoying crashes. This seems to be the culprit.

https://discord.com/channels/556527313823596604/962775007799427102/1023610874847580191

From @thaytan:

When things go wrong, the second value of the ba vector ends up corrupted inside the lambda
I suspect that it's a gcc bug with C++14 initialized capture values
and ends up with some uninitialized stack value

Edited by Mateo de Mayo

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