[QUESTION]段错误

[lalawinter]

./robot_test_ply
Read 74712 total vertices
Read 74712 total vertices

----------------------enter solver
src.size() : 224136
target.size() : 224136
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
Aborted (core dumped)
请问算法是无法支撑这个量级的计算吗

[XiaXingLuo]

./robot_test_ply Read 74712 total vertices Read 74712 total vertices

----------------------enter solver src.size() : 224136 target.size() : 224136 terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc Aborted (core dumped) 请问算法是无法支撑这个量级的计算吗

I also meet this problem, have you solved it?

[ryancwicks-voyis]

I have a similiar problem. The program is crashing because Eigen is trying to allocate more memory than the system has during a resize.

The root of the problem is the TIM's:

/**

• Given a 3-by-N matrix representing points, return Translation Invariant Measurements (TIMs)
• @param v a 3-by-N matrix
• @return a 3-by-(N-1)*N matrix representing TIMs
  /
  Eigen::Matrix<double, 3, Eigen::Dynamic>
  computeTIMs(const Eigen::Matrix<double, 3, Eigen::Dynamic>& v,
  Eigen::Matrix<int, 2, Eigen::Dynamic> map);

For your matrix of 74712 points, this tries to allocate 62 GB of memory. I'm not a developer on this project, so I don't know if there is a way around this problem short of decimating your data very heavily.

see this issue: #11