[ros-users] PCL segmentation and Eigen

[Stefan Kohlbrecher]

Hi,

IIRC that will only happen on x86 32 bit platforms, because on x86
amd64 data for these cases is default 128bit aligned using GCC. At
least that´s what my experience with Eigen on another project tells me
:)

regards,
Stefan

2010/7/30 Radu Bogdan Rusu <rusu at willowgarage.com>:
> Sanja,
>
> I just tried your code and it works fine for me. Can you please send me the dataset that you're trying it on? We can
> take this offline.
>
>
> Thanks,
> Radu.
>
> On 07/30/2010 10:12 AM, Sanja Popovic wrote:
>> #define EIGEN_DONT_ALIGN 1
>>
>> ....
>> #include<Eigen/Core>
>> ....
>>
>> void findPlane(pcl::PointCloud<pcl::PointXYZ>  cloud, pcl::PointIndices&inliers) {
>>       Eigen::Vector3f v = Eigen::Vector3f(1.0, 0.0, 0.0);
>>       pcl::ModelCoefficients coefficients;
>>       pcl::SACSegmentation<pcl::PointXYZ>  seg;
>>       seg.setModelType (pcl::SACMODEL_ORIENTED_PLANE);
>>       seg.setAxis(v);
>>       seg.setEpsAngle(30.0);
>>       seg.setMethodType (pcl::SAC_RANSAC);
>>       seg.setDistanceThreshold (0.02);
>>       seg.setInputCloud (boost::make_shared<pcl::PointCloud<pcl::PointXYZ>  >(cloud));
>>       seg.segment (inliers, coefficients);
>> }
>>
>> We figured out that it is most likely that you just need to follow the instructions from here: http://eigen.tuxfamily.org/dox/StructHavingEigenMembers.html but you are the boss :)
>>
>> Thanks,
>> Sanja
>> ________________________________________
>> From: Radu Bogdan Rusu [rusu at willowgarage.com]
>> Sent: Friday, July 30, 2010 1:07 PM
>> To: ros-users at code.ros.org
>> Cc: Sanja Popovic
>> Subject: Re: [ros-users] PCL segmentation and Eigen
>>
>> Sanja,
>>
>> Can you please send me a snippet of code that exhibits that? I'd like to fix this immediately if it's a bug.
>>
>> Thanks,
>> Radu.
>>
>> On 07/30/2010 10:06 AM, Sanja Popovic wrote:
>>> Hi,
>>>
>>> When I used PCL segmentation of oriented planes, I had to use Eigen::Vector3f to specify the axis. This led to an error described here: http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html. The fix was to add #define EIGEN_DONT_ALIGN to the very beginning of my code so it also affects the PCL code. Maybe someone should take a look at it because the code broke down when the segment function from SACSegmentation was called.
>>>
>>> Thanks,
>>> Sanja
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>
>> --
>> | Radu Bogdan Rusu | http://rbrusu.com/
>
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
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