Re: [ros-users] Data is not aligned assertion fails... (SACS…

>>    Aitor, Sabrina,

>>    I'll try to fix this today. Your platforms are standard 32bit right?

>>    Cheers,
>>    Radu.

>>    On 09/16/2010 07:04 AM, Aitor Aldomà wrote:

>>        Hi Sabrina,

>>        adding -DEIGEN_DONT_VECTORIZE didnt work for me either. Then I
>> found
>>        this document:

>>        Define EIGEN_DONT_ALIGN
>>        Or define both EIGEN_DONT_VECTORIZE and
>>        EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT

>>        Tried all possible combinations but it didnt work :) I was still
>>        becoming the assertion. So, what I did in the end (not a very clean
>>        solution) was,

>>        Added this to CMakeList.txt in pcl:
>>        add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
>>        -DEIGEN_DONT_VECTORIZE)
>>        add_definitions(-DEIGEN_DONT_ALIGN)

>>        and finally comment the line in MapBase.h giving the assertion.
>>        //ei_assert(EIGEN_IMPLIES(ei_traits<Derived>::Flags&AlignedBit,
>>        (size_t(m_data)&0xf)==0)
>>          // && "data is not aligned");

>>        and remake PCL...

>>        No idea which side effects this might have but its working fine
>> now.
>>        Anyway, just a temporal dirty solution.

>>        Hope it works for you too.
>>        Regards

>>        Aitor

>>        On Thu, Sep 16, 2010 at 12:40 PM, Sabrina Kliegl
>>        <skliegl@get.upb.de <mailto:skliegl@get.upb.de>
>>        <mailto:skliegl@get.upb.de <mailto:skliegl@get.upb.de>>> wrote:

>>            Hi Radu,

>>            I am facing a similar problem as Aitor (I am using the
>>            tabletop_object_detector). Which CMakeLists.txt do I have to
>>        modify
>>            exactly?

>>            I tried the CMakeLists.txt in pcl then "make clean" and
>>        "make", but
>>            still get
>>            the failed assertion.

>>            Regards,
>>            Sabrina

>>            Am Dienstag 14 September 2010 10:42:22 schrieb Radu Bogdan
>> Rusu:
>>         > 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/