Closed mihaibujanca closed 8 years ago
Update: after some digging, it looks as if the problem is caused in rosConfigure.h. If I comment out everything inside the methods there, it doesn't fail with the same error (of course it fails afterwards, as configs are all over the place), but anyway, looks like if I change anything that's in settings.h, it crashes with the error I mentioned.
Both
freeDebugParam1 = config.freeDebugParam1;
freeDebugParam1 = 1;
Will result in the error.
I'll update again after I dig into the settings a bit.
Also this happens regardless of the input or calib file I am providing
Solved: It worked for me after I removed -march=native
from my CMakeLists.txt
So
set(CMAKE_CXX_FLAGS
"${CMAKE_CXX_FLAGS} ${SSE_FLAGS} -g -Wall -std=c++0x"
)
instead of
set(CMAKE_CXX_FLAGS
"${CMAKE_CXX_FLAGS} ${SSE_FLAGS} -g -march=native -Wall -std=c++0x"
)
I'm on Ubuntu 14.04.3 x64, using ROS indigo. When I'm trying to run live_slam, I'm getting (straight, away, no frames seem to be processed)(array) & (32-1)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " READ THIS WEB PAGE !!! "' failed.`
live_slam: /usr/local/include/eigen3/Eigen/src/Core/DenseStorage.h:91: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = double, int Size = 4, int MatrixOrArrayOptions = 0]: Assertion
(reinterpret_castBacktrace:
While I looked at both issue #14 and #3 neither of them seem to actually have the same issue, as per the stack trace. Mine seems to be related to g2o, and more specifically, seem to have to do with either of
G2O_REGISTER_TYPE(VERTEX_SIM3_SOPHUS:EXPMAP, VertexSim3); G2O_REGISTER_TYPE(EDGE_SIM3_SOPHUS:EXPMAP, EdgeSim3);
in g2oTypeSim3Sophus.cpp, since that's the only place whereg2o::RegisterTypeProxy
might be called from.