Change compiler flags to fix segfault caused by alignment issue in Ei…

…gen::Matrix3Xd

CMakeLists.txt

@@ -19,11 +19,15 @@ find_package(OpenCV REQUIRED)
 
 ## Set compiler optimization flags
 # set(CMAKE_CXX_FLAGS "-O3 -fopenmp -fPIC -Wno-deprecated -Wenum-compare -std=c++14")
-set(CMAKE_CXX_FLAGS "-O3 -fopenmp -fPIC -Wno-deprecated -Wenum-compare -Wno-ignored-attributes -std=c++14")
+#set(CMAKE_CXX_FLAGS "-O3 -fopenmp -fPIC -Wno-deprecated -Wenum-compare -Wno-ignored-attributes -std=c++17")
+#set(CMAKE_CXX_FLAGS "-fopenmp -fPIC -Wno-deprecated -Wenum-compare -Wno-ignored-attributes -std=c++17")
 # set(CMAKE_CXX_FLAGS "-O3 -fopenmp -fPIC -Wno-deprecated -Wenum-compare")
 # set(CMAKE_CXX_FLAGS "-O3 -fopenmp -march=native -mfpmath=sse -funroll-loops -fPIC -Wno-deprecated -Wenum-compare") # no improvement
 # set(CMAKE_CXX_FLAGS "-frename-registers -Ofast -march=native -fopenmp -fPIC -Wno-deprecated -Wenum-compare") # no improvement
 
+#set(CMAKE_CXX_FLAGS "-fopenmp -fPIC -Wno-deprecated -Wenum-compare -Wno-ignored-attributes -std=c++17")
+set(CMAKE_CXX_FLAGS "-O3 -march=native -mtune=intel -msse4.2 -mavx2 -mfma -flto -fopenmp -fPIC -Wno-deprecated -Wenum-compare -Wno-ignored-attributes -std=c++17")
+
 ## Specify additional locations of header files
 include_directories(include ${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
 

README.md

@@ -74,6 +74,8 @@ installed, you should be good to go.
 
 You can optionally install GPD with `sudo make install` so that it can be used by other projects as a shared library.
 
+If building the package does not work, try to modify the compiler flags, `CMAKE_CXX_FLAGS`, in the file CMakeLists.txt.
+
 <a name="pcd"></a>
 ## 3) Generate Grasps for a Point Cloud File