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ndt_gpu crashes with Eigen Error

asked 2019-08-14 13:15:25 -0600

Josh Whitley gravatar image

updated 2019-08-14 13:16:34 -0600


  • Ubuntu 18.04.3
  • Kernel 4.15.0-58-generic
  • CUDA 10.0
  • CuDNN 7.6.2
  • Eigen 3.3.7

When I build Autoware 1.12.0 from source with the AUTOWARE_COMPILE_WITH_CUDA=1 environmental variable set, I get the following crash of ndt_gpu when running with any method:

ndt_matching: /usr/local/include/eigen3/Eigen/src/Core/DenseStorage.h:109: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (15)) == 0 && "this assertion is explained here: " "" " **** READ THIS WEB PAGE !!! ****"' failed.
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I got the same error, and it seemed to occur only in Debug build.
I decided to use Release build tentatively, but I feel it should be fixed.

Did you build Autoware in the Debug mode?

Kenji Miyake gravatar image Kenji Miyake  ( 2019-08-14 20:06:51 -0600 )edit

Yes, I did. Thanks for checking into this. I'll see if I can figure out what's going on.

Josh Whitley gravatar image Josh Whitley  ( 2019-08-15 13:16:47 -0600 )edit

1 Answer

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answered 2019-10-29 11:33:12 -0600

Kenji Miyake gravatar image

updated 2019-10-29 11:36:22 -0600

Though this is no a fundamental solution, I found adding add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT) to autoware/core_perception/ndt_cpu/CMakeLists.txt can ignore this error.

(Note: not ndt_gpu but ndt_cpu)

I'll send an MR for this as a temporary measure.

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I'm adding notes for the future reference.

I tried many solutions written in, but I couldn't solve this problem completely.

I found this minimal code can reproduce the error. (Instantiating only either one didn't cause it, but I'm not sure the reason.)

// core_perception/lidar_localizer/ndt_matching.cpp
#include <ndt_cpu/NormalDistributionsTransform.h>
#include <ndt_gpu/NormalDistributionsTransform.h>

int main(int argc, char** argv)
  // Instantiate these classes(or inherited classes) at the same time
  cpu::Registration<pcl::PointXYZ, pcl::PointXYZ> tmp_cpu;
  gpu::GRegistration tmp_gpu;

  return 0;

Also, when I tested this code without ROS, the error didn't occur.
Therefore, I guess Autoware's ROS usage is causing some conflicts. Probably similar to this problem.

Kenji Miyake gravatar image Kenji Miyake  ( 2019-10-29 11:35:29 -0600 )edit

@kenji-miyake Thank you so much for looking into this and providing the MR with the fix!

Josh Whitley gravatar image Josh Whitley  ( 2019-10-30 10:08:09 -0600 )edit

Thank you so much , it fix my problem related to ORB_SLAM3 as well .

Badal gravatar image Badal  ( 2023-04-14 04:58:50 -0600 )edit

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Asked: 2019-08-14 13:15:25 -0600

Seen: 813 times

Last updated: Oct 29 '19