ndt_gpu crashes with Eigen Error

edit

I'm adding notes for the future reference.

I tried many solutions written in http://eigen.tuxfamily.org/dox-devel/..., 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. https://github.com/dqrobotics/cpp/iss...

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

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