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

>>>    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/