Fix the crash issue by unmatched compile options, see README.

README.MD

@@ -10,7 +10,12 @@
 ### Prerequisites
 - Install depends follow the instructions of ["cartographer"](https://google-cartographer.readthedocs.io/en/latest/index.html) and ["cartographer_ros"](https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html) respectively. 
 - Build [OpenCV 3.3.1](https://opencv.org/releases/page/2/) (other version may work fine if it includes implementation of SURF keypoint detector) from source with "opencv_contrib"
-- [GTSAM 4.0.2](https://github.com/borglab/gtsam/tree/4.0.2)
+- Build [GTSAM 4.0.2](https://github.com/borglab/gtsam/tree/4.0.2) with compile options as follows:
+
+  ```cmake -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_WITH_TBB=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_COMPILE_OPTIONS_PUBLIC="" ..```
+- Build [PCL 1.8.0]() with compile options as follows:
+
+  ```cmake -DPCL_ENABLE_SSE=OFF ..```
 ---
 ### Build
 - Clone this repository in your ROS workspace

src/cartographer/CMakeLists.txt

@@ -35,11 +35,11 @@ find_package(LuaGoogle REQUIRED)
 find_package(Protobuf 3.0.0 REQUIRED)
 
 # add for lins, wz
-find_package(PCL REQUIRED QUIET)
+find_package(PCL 1.8.0 REQUIRED)
 find_package(VTK REQUIRED)
-find_package(GTSAM REQUIRED QUIET)
+find_package(GTSAM 4.0.2 REQUIRED)
 # self built, with SURF
-set(OpenCV_DIR "/home/wz/github/opencv-3.3.1/install/share/OpenCV")
+set(OpenCV_DIR "/home/wz/study_hub/opencv-3.3.1/install/share/OpenCV")
 find_package(OpenCV 3.3.1 REQUIRED)
 # find_package(catkin REQUIRED COMPONENTS ndt_omp)
 

src/cartographer/cartographer/mapping/internal/3d/gravity_factor/gravity_estimator.h

@@ -35,6 +35,8 @@ class GravityEstimator {
     const std::deque<Vector3d> &Vs,
     const double gnorm,
     Vector3d &g_approx);
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 

src/cartographer/cartographer/mapping/internal/3d/initialization/integration_base.h

@@ -23,6 +23,7 @@ struct IMUNoise{
 };
 class IntegrationBase {
 public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   IntegrationBase() = delete;
   IntegrationBase(
       const Eigen::Vector3d &_linearized_ba, 

src/cartographer/cartographer/mapping/internal/3d/initialization/rigid3d_with_preintegrator.h

@@ -15,6 +15,7 @@ using Eigen::VectorXd;
 // template <typename T>
 class Rigid3dWithPreintegrator{
 public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   explicit Rigid3dWithPreintegrator(){
     transform = transform::Rigid3d::Identity();
     pre_integration = nullptr;
@@ -32,6 +33,7 @@ class Rigid3dWithPreintegrator{
 // more accurate in initialization via experiments.
 class Rigid3dWithVINSPreintegrator{
 public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   explicit Rigid3dWithVINSPreintegrator(){
     transform = transform::Rigid3d::Identity();
     pre_integration = nullptr;

src/cartographer/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc

@@ -1087,6 +1087,12 @@ bool LocalTrajectoryBuilder3D::AlignWithWorld() {
 
 void LocalTrajectoryBuilder3D::InitCircularBuffers(){
   Eigen::Vector3d zero_vec(0., 0., 0.);
+  all_laser_transforms_.clear();
+  Ps_.clear();
+  Rs_.clear();
+  Vs_.clear();
+  Bas_.clear();
+  Bgs_.clear();
   for(size_t i = 0; i < frames_for_dynamic_initialization_+1; ++i){
     all_laser_transforms_.push_back(Rigid3dWithVINSPreintegrator());
     Ps_.push_back(zero_vec);

src/cartographer/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h

@@ -276,6 +276,8 @@ class LocalTrajectoryBuilder3D {
   std::deque<Rigid3dWithPreintegrator> g_est_transforms_;
   std::deque<Rigid3dWithPreintegrator> g_est_transforms_tmp_;
   std::deque<Eigen::Vector3d> g_est_Vs_;
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 }  // namespace mapping

src/cartographer/cartographer/transform/rigid_transform.h

@@ -91,6 +91,8 @@ class Rigid2 {
  private:
   Vector translation_;
   Rotation2D rotation_;
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 template <typename FloatType>
@@ -197,6 +199,8 @@ class Rigid3 {
  private:
   Vector translation_;
   Quaternion rotation_;
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 template <typename FloatType>