Eigen alignment fix

svo/include/svo/depth_filter.h

@@ -116,7 +116,7 @@ public:
   /// Can be used to compute the Next-Best-View in parallel.
   /// IMPORTANT! Make sure you hold a valid reference counting pointer to frame
   /// so it is not being deleted while you use it.
-  void getSeedsCopy(const FramePtr& frame, std::list<Seed>& seeds);
+  void getSeedsCopy(const FramePtr& frame, std::list<Seed, aligned_allocator<Seed> >& seeds);
 
   /// Return a reference to the seeds. This is NOT THREAD SAFE!
   std::list<Seed, aligned_allocator<Seed> >& getSeeds() { return seeds_; }

svo/include/svo/global.h

@@ -25,6 +25,10 @@
 #include <math.h>
 
 #include <Eigen/Core>
+template <class T, class Allocator =  Eigen::aligned_allocator<std::pair<const int,T>>   >
+using vectorA = std::vector< T, Allocator > ;
+template <class T, class Allocator =  Eigen::aligned_allocator<std::pair<const int,T>>   >
+using listA = std::list< T, Allocator > ;
 #include <opencv2/opencv.hpp>
 #include <sophus/se3.h>
 #include <vikit/performance_monitor.h>

svo/include/svo/initialization.h

@@ -44,11 +44,11 @@ public:
 protected:
   vector<cv::Point2f> px_ref_;      //!< keypoints to be tracked in reference frame.
   vector<cv::Point2f> px_cur_;      //!< tracked keypoints in current frame.
-  vector<Vector3d> f_ref_;          //!< bearing vectors corresponding to the keypoints in the reference image.
-  vector<Vector3d> f_cur_;          //!< bearing vectors corresponding to the keypoints in the current image.
+  vectorA<Vector3d> f_ref_;          //!< bearing vectors corresponding to the keypoints in the reference image.
+  vectorA<Vector3d> f_cur_;          //!< bearing vectors corresponding to the keypoints in the current image.
   vector<double> disparities_;      //!< disparity between first and second frame.
   vector<int> inliers_;             //!< inliers after the geometric check (e.g., Homography).
-  vector<Vector3d> xyz_in_cur_;     //!< 3D points computed during the geometric check.
+  vectorA<Vector3d> xyz_in_cur_;     //!< 3D points computed during the geometric check.
   SE3 T_cur_from_ref_;              //!< computed transformation between the first two frames.
 };
 
@@ -56,7 +56,7 @@ protected:
 void detectFeatures(
     FramePtr frame,
     vector<cv::Point2f>& px_vec,
-    vector<Vector3d>& f_vec);
+    vectorA<Vector3d>& f_vec);
 
 /// Compute optical flow (Lucas Kanade) for selected keypoints.
 void trackKlt(
@@ -64,17 +64,17 @@ void trackKlt(
     FramePtr frame_cur,
     vector<cv::Point2f>& px_ref,
     vector<cv::Point2f>& px_cur,
-    vector<Vector3d>& f_ref,
-    vector<Vector3d>& f_cur,
+    vectorA<Vector3d>& f_ref,
+    vectorA<Vector3d>& f_cur,
     vector<double>& disparities);
 
 void computeHomography(
-    const vector<Vector3d>& f_ref,
-    const vector<Vector3d>& f_cur,
+    const vectorA<Vector3d>& f_ref,
+    const vectorA<Vector3d>& f_cur,
     double focal_length,
     double reprojection_threshold,
     vector<int>& inliers,
-    vector<Vector3d>& xyz_in_cur,
+    vectorA<Vector3d>& xyz_in_cur,
     SE3& T_cur_from_ref);
 
 } // namespace initialization

svo/include/svo/reprojector.h

@@ -72,7 +72,7 @@ private:
     Vector2d px;     //!< projected 2D pixel location.
     Candidate(Point* pt, Vector2d& px) : pt(pt), px(px) {}
   };
-  typedef std::list<Candidate, aligned_allocator<Candidate> > Cell;
+  typedef std::list<Candidate > Cell;
   typedef std::vector<Cell*> CandidateGrid;
 
   /// The grid stores a set of candidate matches. For every grid cell we try to find one match.