Kintinuous: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128:

[ywcmaike]

I have done as the tutorial said. It is ok along the process. But when I run the dataset, It has happened that llike that "Kintinuous: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = float; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast(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. Aborted (core dumped)" . I think may be it does with the eigen. My system is ubuntu16.04 and eigen is libeigen3.

the full issue like this: ./Kintinuous -s 7 -v ../vocab.yml.gz -l ../loop.klg -ri -fl -od Point resolution: 13.6 millimetres Using ICP+RGB-D odometry Loading vocabularly for loop detection... vocabularly loaded Initialising loop detector... loop detector initialised Kintinuous: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = float; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast(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. Aborted (core dumped)

And how to solve it @mp3guy @martinruenz @zry656565 @johnbmcd

[ywcmaike]

And sometimes I run the dataset, may be appear like that ./Kintinuous -s 7 -v ../vocab.yml.gz -l ../loop.klg -ri -fl -od Point resolution: 13.6 millimetres Using ICP+RGB-D odometry Loading vocabularly for loop detection... vocabularly loaded Initialising loop detector... loop detector initialised TrackerInterfaceThread started CloudSliceProcessorThread started DeformationThread started VisualisationThread started PlaceRecognitionThread started Segmentation fault (core dumped)

[ywcmaike]

I had this issue today as well. As it says, theres an issue with line 128 in the file: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h If you go to line 128, change the number in brackets from 31 to 32 and save. This should hopefully solve your issue.

[ywcmaike]

Hi， I have done just like you said. But it does not make sense. I even recompile the code, but not sense. I also change the code like the page “http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html” said. but it does not make sense. I do not know if your system and environment like mine. My system:Ubuntu16.04, libeigen3, pcl1.8, the latest code of kintinuous. I hope you can help me. Thanks!!!

[sumitsarkar1]

Same Eigen dense storage error and sometimes the Segmentation fault (core dumped) error. Any solutions?

[echoofluoc]

@ywcmaike Did you figure it out? I met the same problem like you and dont know how to deal with it

[sumitsarkar1]

i switched to ElasticFusion

On Tue, Mar 27, 2018 at 5:47 PM, echoofluoc notifications@github.com wrote:

@ywcmaike https://github.com/ywcmaike Did you figure it out? I met the same problem like you and dont know how to deal with it

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[sduxuhui]

@ywcmaike @mp3guy @sumitsarkar1 Did you figure it out? I met the same problem like you and dont know how to deal with it。OK ，I have solved the problem, the version of eigen is wrong , try another one.

[ying971101]

I changed the version of eigen from 3.3 to 3.1 and it worked.

[miaohuiqi]

I followed the solution of @ywcmaike and it worked! Thank you so much, it helped a lot.

[Shepherd-Gregory]

It seems to work to change the num at line 128 in DenseStorage.h as @ywcmaike did before. But I'm not sure if it would bring other problems.

[Shepherd-Gregory]

I have to say that this solution can't solve this issue thoroughly, I have met some new problems after update the code in this way. Now I have solved the "not aligned" problem by degrading Eigen3 version from 3.3 to 3.1 manually, it works well. Hope it will help for others.