eigen error in mono_lidar

[magic428]

Hi, johannes,

Thanks for your work. I met such error when running roslaunch demo_keyframe_bundle_adjustment_meta kitti_standalone.launch with 04.bag.

...
Initialize DepthEstimator Post
DepthEstimator successful initialized
[ INFO] [1591597391.300192954, 0.520561176]: /gamma_correction_nodelet_left Gamma correction Entered callback!
[ INFO] [1591597391.301096608, 0.520561176]: /gamma_correction_nodelet_left gamma correction leaving callback!
[ INFO] [1591597391.460237276, 0.536702683]: Duration feature matching and tracking: 158 ms
size before randomization 124232
size after randomization 6000
Publish image projection cloud
[ INFO] [1591597391.503006156, 0.540724514]: Duration assign semantic labels=0 ms
[ INFO] [1591597391.511459588, 0.541729991]: Duration tracklet_depth_ros_tool=376 ms
size before randomization 124088
size after randomization 6000
Publish image projection cloud
[ INFO] [1591597392.208998584, 0.611303525]: Duration assign semantic labels=2 ms
[ INFO] [1591597392.210731384, 0.611303525]: Duration tracklet_depth_ros_tool=696 ms
mono_lidar: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = double; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (31)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
================================================================================REQUIRED process [mono_lidar-20] has died!
process has died [pid 15517, exit code -6, cmd /home/magic/ros_wspace/limo_ws/devel/lib/keyframe_bundle_adjustment_ros_tool/mono_lidar __name:=mono_lidar __log:=/home/magic/.ros/log/8131c29a-a950-11ea-bc34-8c04ba998175/mono_lidar-20.log].
log file: /home/magic/.ros/log/8131c29a-a950-11ea-bc34-8c04ba998175/mono_lidar-20*.log
Initiating shutdown!
================================================================================
[ INFO] [1591597392.342114657, 0.624392962]: /gamma_correction_nodelet_left Gamma correction Entered callback!
[ INFO] [1591597392.343137421, 0.625400988]: /gamma_correction_nodelet_left gamma correction leaving callback!

[johannes-graeter]

Hi magic428,

thanks for the interest in my work and reporting the bug! This one is particularly nasty: Eigen does a lot of smart stuff using aligned memroy in order to speed up matrix operations. However this means they do not interact well with stl containers and also struct declarations. I circumvent this by deactivating the alignment in the CMakeLists, but this seems to be broken for your build environment. Could you:

1. Tell me if you used the docker build or the normal build?
2. supply the gcc version you are compiling with?
3. if version > 7.0 could you try

   catkin config --profile limo_release -x _limo_release --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_FLAGS="-O3 -c++17"

   ( in the link they said that compiling with c++17 standard would solve the problem :)

4. Clean, build, rerun and tell me the result.

Best, Johannes

PS: The time usage for tracklet_depth_ros_tool is way too much, which is why I added the O3 option (letter not numeric ;) )

[magic428]

Hi magic428,

thanks for the interest in my work and reporting the bug! This one is particularly nasty: Eigen does a lot of smart stuff using aligned memroy in order to speed up matrix operations. However this means they do not interact well with stl containers and also struct declarations. I circumvent this by deactivating the alignment in the CMakeLists, but this seems to be broken for your build environment. Could you:

1. Tell me if you used the docker build or the normal build?
2. supply the gcc version you are compiling with?
3. if version > 7.0 could you try

catkin config --profile limo_release -x _limo_release --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_FLAGS="-O3 -c++17"

( in the link they said that compiling with c++17 standard would solve the problem :)

4. Clean, build, rerun and tell me the result.

Best, Johannes

PS: The time usage for tracklet_depth_ros_tool is way too much, which is why I added the O3 option (letter not numeric ;) )

Hi, Johannes,

thanks for the reply, and I have tried the "-std=c++17" that you suggested, but it didn't work.

This is the compile Flags:

cd /home/magic/ros_wspace/limo/build_limo_release/demo_keyframe_bundle_adjustment_meta; catkin build --get-env demo_keyframe_bundle_adjustment_meta | catkin env -si  /usr/bin/cmake /home/magic/ros_wspace/limo/src/limo/demo_keyframe_bundle_adjustment_meta --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/magic/ros_wspace/limo/devel_limo_release/.private/demo_keyframe_bundle_adjustment_meta -DCMAKE_INSTALL_PREFIX=/home/magic/ros_wspace/limo/install_limo_release -DCMAKE_BUILD_TYPE=RelWithDebInfo '-DCMAKE_CXX_FLAGS=-O3 -std=c++17'; cd -

PS:

I use normal build instead of docker build. My gcc(or g++) version: 7.5.0.

My laptop specs is like this:

sudo lshw -short
H/W path           Device   Class          Description
======================================================
                            system         G7 7590 (08EB)
/0                          bus            0F7T8V
/0/0                        memory         64KiB BIOS
/0/38                       memory         16GiB System Memory
/0/38/0                     memory         8GiB SODIMM DDR4 Synchronous 2667 MHz (0.4 ns)
/0/38/1                     memory         8GiB SODIMM DDR4 Synchronous 2667 MHz (0.4 ns)
/0/41                       memory         384KiB L1 cache
/0/42                       memory         1536KiB L2 cache
/0/43                       memory         12MiB L3 cache
/0/44                       processor      Intel(R) Core(TM) i7-9750H CPU @ 2.60GHz

Best, magic428

[johannes-graeter]

Hm i wonder why -DCMAKE_CXX in quotes... Could you try to build it with the docker? In that way we can ensure to habe the same environment when I debug.

Best, Johannes

[magic428]

Hm i wonder why -DCMAKE_CXX in quotes... Could you try to build it with the docker? In that way we can ensure to habe the same environment when I debug.

Best, Johannes

Because -DCMAKE_CXX was set like this:

catkin config --profile limo_release -x _limo_release --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_FLAGS="-O3 -std=c++17"

I will try to build in docker next. Thanks Johannes.

Best, magic428

[johannes-graeter]

Hi magic,

did you try? If it worked please write a short comment so i can close the issue :)

Best, Johannes

[magic428]

Hi magic,

did you try? If it worked please write a short comment so i can close the issue :)

Best, Johannes

Hi, Johannes,

Sorry for not reply you. I tried build in docker and it works, then I processed normal build successfully on another PC, So I think maybe some dependency broken or not compatible.

Thanks for your work again!

Best, magic428