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

[Radu Bogdan Rusu]

Hmm, I think I fixed it. Aitor, Sabrina, would it be possible to try trunk (32769+)? If this works for you, then I will 
include it in the next release (0.3.1) as soon as you reply back.

-- 
Cheers,
Radu.


On 09/16/2010 11:14 AM, Aitor Aldomà wrote:
> yes, I think so...Thanks.
>
> Cheers,
> Aitor
>
> On Thu, Sep 16, 2010 at 5:13 PM, Radu Bogdan Rusu <rusu at willowgarage.com
> <mailto: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>
>         <mailto: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/
>
>