Aitor,

Thanks for the bug report. We're aware of the eigen 32-bit allocation/vectorization problems and are working on fixing 
these. In the meantime, you can enable EIGEN_DONT_VECTORIZE (-DEIGEN_DONT_VECTORIZE to add_definitions in 
CMakeLists.txt), which will fix these issues on 32bit architectures.

Cheers,
Radu.

On 09/14/2010 11:29 AM, Aitor Aldomà wrote:
> Hi everyone,
>
> was using the PCL to detect the dominant plane from a point cloud,
> similar to what is done in package tabletop_object_detector using
> SACSegmentation or SACSegmentationFromNormals and one assertion fails:
>
> /home/aa/ros/stacks/point_cloud_perception/eigen3/include/Eigen/src/Core/MapBase.h:192:
> void Eigen::MapBase<Derived>::checkSanity() const [with Derived =
> Eigen::Map<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 1, Eigen::Stride<0, 0>
>  >]: Assertion `(!(ei_traits<Derived>::Flags&AlignedBit) ||
> ((size_t(m_data)&0xf)==0)) && "data is not aligned"' failed.
>
> Tried the example from:
> http://www.ros.org/wiki/pcl/Tutorials/Planar%20model%20segmentation
>
> and the error persists but it does not occur always, just every now and
> then :S I am testing on a 32-Bit Ubuntu operating system.
>
> Any idea? I would really appreciate it.
>
> Thanks in advance.
> Aitor
>
>
>
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-- 
| Radu Bogdan Rusu | http://rbrusu.com/