Seg faults due to Eigen alignment

[mdailey]

On Ubuntu 16.04 with Eigen 3.3 or 3.4, I am having seg fault issues in the depth filter module due to the inclusion of Seed objects in a std::list.

The issue is straightforward to fix using Eigen's alignment allocators everywhere that std::list occurs in the current code.

Pull request coming shortly.

[mdailey]

On further investigation, it seems the problem went away when I was more careful to use the same gcc options for my test program as the options being used to compile libsvo.so:

SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas -std=c++0x")

I still don't understand why it works, though. PR #193 removed the alignment directives from the Seed list declarations in the depth filter module in favor of EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION macro calls in global.h . However, Seed uses a Matrix2d. Why don't we need

EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Matrix2d)

as shown in the Eigen docs to ensure alignment of the Matrix2d's in our Seed objects?

Anyway, since I can't reproduce the issue with the above-mentioned gcc flags, I'm closing this issue.