balm_front_back: unaligned arrays

[OrientoNubo]

When I run "roslaunch balm balm_horizon_outdoor.launch", Tthen the following appeared:

"

SUMMARY

PARAMETERS
 * /N_SCANS: 6
 * /accumulate_window: 1
 * /blind: 0.5
 * /corn_filter_length: 0.2
 * /cos160: 160.0
 * /disA: 0.01
 * /disB: 0.1
 * /edgea: 2.0
 * /edgeb: 0.1
 * /group_size: 8
 * /inf_bound: 10.0
 * /jump_down_limit: 8.0
 * /jump_up_limit: 170.0
 * /lidar_type: 1
 * /limit_maxmid: 6.25
 * /limit_maxmin: 3.24
 * /limit_midmin: 6.25
 * /p2l_ratio: 225.0
 * /point_filter_num: 3
 * /pub_skip: 5
 * /root_corn_voxel_size: 1.0
 * /root_surf_voxel_size: 1.0
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /scan2map_on: 0
 * /smallp_intersect: 172.5
 * /smallp_ratio: 1.2
 * /surf_filter_length: 0.4

NODES
  /
    balm_front_back (balm/balm_front_back)
    livox_feature (balm/livox_feature)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [13140]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 59753fca-8dfc-11eb-ae62-3c7c3f527e1a
process[rosout-1]: started with pid [13151]
started core service [/rosout]
process[livox_feature-2]: started with pid [13158]
process[balm_front_back-3]: started with pid [13159]
process[rviz-4]: started with pid [13165]
HORIZON
1.000000 1.000000
balm_front_back: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = double; int Size = 4; 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.
[balm_front_back-3] process has died [pid 13159, exit code -6, cmd /home/scale/catkin_ws/devel/lib/balm/balm_front_back __name:=balm_front_back __log:=/home/scale/.ros/log/59753fca-8dfc-11eb-ae62-3c7c3f527e1a/balm_front_back-3.log].
log file: /home/scale/.ros/log/59753fca-8dfc-11eb-ae62-3c7c3f527e1a/balm_front_back-3*.log
[rviz-4] process has finished cleanly
log file: /home/scale/.ros/log/59753fca-8dfc-11eb-ae62-3c7c3f527e1a/rviz-4*.log
^C[livox_feature-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

"

How can I solve this problem?

(PS: I did not compile successfully before. I modified the CMakeLists.txt and changed the "add_executable" of "add_executable(velodyne_feature src/features/velodyne_feature.cpp)" to "add_library". After the change, it can be compiled)

[Zale-Liu]

It seems the problem of eigen library. You can change from "std::vectorEigen::Vector3d" to "std::vector<Eigen::Vector3d, Eigen::aligned_allocatorEigen::Vector3d>"

[OrientoNubo]

It seems the problem of eigen library. You can change from "std::vectorEigen::Vector3d" to "std::vector<Eigen::Vector3d, Eigen::aligned_allocatorEigen::Vector3d>"

OK，I will try it. THX!

[Dou-1996]

你好，我也遇到了这个问题，请问修改特征库后解决了这个问题吗。