Hi,

When I try to use ICP registration from PCL on a 32-bit Ubuntu (10.04) 
system, I get the following error:
aggregate_point_map_node: 
/opt/ros/cturtle/stacks/geometry_experimental/eigen3/include/Eigen3/src/Core/MatrixStorage.h:67: 
Eigen3::ei_matrix_array<T, Size, MatrixOptions, 16>::ei_matrix_array() 
[with T = float, int Size = 4, int MatrixOptions = 0]: Assertion 
`(reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is 
explained here: " 
"http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html" " **** READ 
THIS WEB PAGE !!! ****"' failed.

If I use -DEIGEN_DONT_ALIGN:
aggregate_point_map_node: 
/opt/ros/cturtle/stacks/geometry_experimental/eigen3/include/Eigen3/src/Core/MapBase.h:193: 
void Eigen3::MapBase<Derived>::checkSanity() const [with Derived = 
Eigen3::Map<Eigen3::Matrix<float, 4, 1, 0, 4, 1>, 1, Eigen3::Stride<0, 
0> >]: Assertion `(!(ei_traits<Derived>::Flags&AlignedBit) || 
((size_t(m_data) % (sizeof(Scalar)*ei_packet_traits<Scalar>::size)) == 
0)) && "data is not aligned"' failed.

I tried both cturtle and the latest buld from svn. On 64-bit systems the 
error doesn't occur. In the mailing list archive I saw that the bug was 
fixed in Sep 2010 but it is still or again there.

Regards,
Georg

-- 
Dipl.-Ing. Georg Arbeiter, Fraunhofer IPA
Robotersysteme
Nobelstrasse 12, 70569 Stuttgart
Telefon 0711-970-1299, Fax 0711-970-1008
mailto:georg.arbeiter@ipa.fraunhofer.de
http://ipa.fraunhofer.de