[ros-users] Data is not aligned assertion fails... (SACSegmentation)

[Radu Bogdan Rusu]

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:
> http://eigen.tuxfamily.org/index.php?title=FAQ#I_disabled_vectorization.2C_but_I.27m_still_getting_annoyed_about_alignment_issues.21
>
> 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 at get.upb.de
> <mailto:skliegl at 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/