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ethz-asl / voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
BSD 3-Clause "New" or "Revised" License
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Possible memory alignment problem #408

Closed salihmarangoz closed 6 months ago

salihmarangoz commented 1 year ago

I have copied tsdf_server.cc and modified it to my needs. But I am getting memory alignment related segmentation faults (using AddressSanitizer) in this line: https://github.com/ethz-asl/voxblox/blob/master/voxblox/src/integrator/tsdf_integrator.cc#L571

It looked weird to me because there is no Eigen-related data structure in ThreadSafeIndex. When I removed EIGEN_MAKE_ALIGNED_OPERATOR_NEW here: https://github.com/ethz-asl/voxblox/blob/master/voxblox/include/voxblox/integrator/integrator_utils.h#L24 the problem was solved. Do you think it is ok to use EIGEN_MAKE_ALIGNED_OPERATOR_NEW here? What is the purpose? Or, is it a false positive with AddressSanitizer?

dikokob commented 6 months ago

Did you ever find a solution to the problem?

salihmarangoz commented 6 months ago

Did you ever find a solution to the problem?

I think the problem is related to Eigen being a header-only library and being compiled with different options with the linked libraries such as PCL.

To overcome this problem, Voxblox and its dependencies that includes Eigen must be compiled with the same compile options. So, the memory alignment will be the same for everything.