Depth_filter crashes on Odroid UX4 and MacOS?

[weiminshen99]

Dear Everyone,
I am new for SVO and could be completely wrong, but the thread "depth_filter" does not seem working properly on both Odroid and MacOS, and crashes on the given dataset as follows. Please tell me how to do things correctly. Thanks!

===== On Odroid UX4 =====
odroid@odroid:~/GitHub/SVO/rpg_svo/svo$ ./bin/test_depth_filter
RUN EXPERIMENT: read 187 dataset entries.
reading image: '/home/odroid/GitHub/SVO/Datasets/sin2_tex2_h1_v8_d/img/frame_000002_0.png'
[INFO] DepthFilter: Initialized 570 new seeds
reading image: '/home/odroid/GitHub/SVO/Datasets/sin2_tex2_h1_v8_d/img/frame_000003_0.png'
reading image: '/home/odroid/GitHub/SVO/Datasets/sin2_tex2_h1_v8_d/img/frame_000004_0.png'
test_depth_filter: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:109:
Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array()
[with T = double; int Size = 36; int MatrixOrArrayOptions = 0]: Assertion
`(reinterpret_cast<size_t>(eigen_unaligned_array_assert_workaround_gcc47(array)) & (15)) == 0
&& "this assertion is explained here:
" "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html"
" **** READ THIS WEB PAGE !!! ****"' failed.
Aborted

odroid@odroid:/GitHub/SVO/rpg_svo/svo$ ./bin/test_pipeline
[INFO] SVO initialized
[INFO] DepthFilter starting thread
reading image /home/odroid/GitHub/SVO/Datasets/sin2_tex2_h1_v8_d/img/frame_000002_0.png
[INFO] RESET
[INFO] Init: Selected first frame.
Frame-Id: 0 #Features: 0 Proc. Time: 41.441ms
[INFO] Init: KLT tracked 565 features
[INFO] Init: KLT 25.3823px average disparity.
Frame-Id: 1 #Features: 0 Proc. Time: 64.492ms
[INFO] Init: KLT tracked 543 features
[INFO] Init: KLT 50.8035px average disparity.
[INFO] Init: Homography RANSAC 543 inliers.
[INFO] Init: Selected second frame, triangulated initial map.
Frame-Id: 2 #Features: 497 Proc. Time: 78.409ms
Frame-Id: 3 #Features: 121 Proc. Time: 17.184ms
Frame-Id: 4 #Features: 121 Proc. Time: 7.487ms
Frame-Id: 5 #Features: 121 Proc. Time: 6.605ms
Frame-Id: 6 #Features: 121 Proc. Time: 23.065ms
Frame-Id: 7 #Features: 121 Proc. Time: 7.286ms
..........................................
Frame-Id: 182 #Features: 121 Proc. Time: 9.914ms
Frame-Id: 183 #Features: 121 Proc. Time: 8.66ms
Frame-Id: 184 #Features: 121 Proc. Time: 11.243ms
Frame-Id: 185 #Features: 121 Proc. Time: 8.694ms
[INFO] DepthFilter stop thread invoked.
[INFO] DepthFilter interrupt and join thread...
[INFO] DepthFilter destructed.
[INFO] SVO destructor invoked
[INFO] Map destructed
BenchmarkNode finished.
odroid@odroid:/GitHub/SVO/rpg_svo/svo$

===== On MacOS =======
The above errors happened in a similar fashion.

PLEASE HELP!!!

[Tsugikuni-Yoriichi]

I meet the same problem.
How did you solve it?

[besttangent]

Is there anyone who can solve it ?

[lenardxu]

This problem is actually, as pointed out in the built-in link in the error message, an eigen alignment problem. This kind of alignment is designated for optimal vectorization. I suppose the problem is triggered by your machine, which is 32-bit. Or the way how the compiler optimizes the code may be the cause. Anyway, here is a compromise. You can disable all related functionalities to circumvent this problem, but at cost of efficiency for your information.
As I found, to launch ros node svo_node, two CMake files are concerned, i.e., ".../svo_ws/src/rpg_svo_pro_open/svo_ros/CMakeLists.txt" and ".../svo_ws/src/rpg_svo_pro_open/svo_cmake/cmake/Modules/SvoSetup.cmake", the latter of which is included in the former one. For purpose of deactivating the alignment functionality of eigen, you need to add two definitions in the latter CMake file:

add_definitions(-DEIGEN_DONT_VECTORIZE)
add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)

(Edit: If that does not work, you can add the same two definitions in the former CMakelists.txt too.)
Otherwise, once you'are willing to take full advantage of the original implementation, you can debug the code to place the error (functions and line numbers), and correspondingly adapt the code according to the rules given by the link.