From 06f029f1eb5bf508b5a9a1745e08be243ffad42f Mon Sep 17 00:00:00 2001 From: atenpas Date: Fri, 18 Dec 2020 14:11:17 -0500 Subject: [PATCH] Change compiler flags to fix segfault caused by alignment issue in Eigen::Matrix3Xd --- CMakeLists.txt | 6 +++++- README.md | 2 ++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a79c09a..18a448f 100644 --- a/CMakeLists.txt +++ b/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}) diff --git a/README.md b/README.md index e1e45bb..36d4532 100644 --- a/README.md +++ b/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. + ## 3) Generate Grasps for a Point Cloud File