Georg, this was recently discussed on pcl-users@.

http://point-cloud-library-pcl-mailing-list.967500.n3.nabble.com/makeShared-make-shared-and-Eigen-PCL-Was-Re-Ros-kinect-about-about-Kinect-Compatibility-amp-install--td2381641.html

Cheers,
Radu.
--
http://pointclouds.org

On 02/01/2011 02:19 AM, Arbeiter, Georg wrote:
> 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
>