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

[Aitor Aldomà]

yes, I think so...Thanks.

Cheers,
Aitor

On Thu, Sep 16, 2010 at 5:13 PM, Radu Bogdan Rusu <rusu at willowgarage.com>wrote:

> 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/
>
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