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我已经在 J​​etson TX1 板（32bit Linux For Tegra R24.1）上安装了 ZED SDK 版本 1.0.0b。事实证明，当我将它与 pcl::IntegralImageNormalEstimation 一起使用时，它大部分时间都会因为一些奇怪的原因而崩溃。

我可以将其缩小到以下简单程序。CMakeLists.txt

cmake_minimum_required(VERSION 2.8.7)
project(zed_test)

IF(NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
ENDIF(NOT CMAKE_BUILD_TYPE)

SET(CUDA_VERSION "7.0")
find_package(CUDA ${CUDA_VERSION} REQUIRED)

find_package(ZED 1.0 REQUIRED)
find_package(PCL REQUIRED)

include_directories(
        ${CUDA_INCLUDE_DIRS}
        ${ZED_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
)

link_directories(${ZED_LIBRARY_DIR})
link_directories(${CUDA_LIBRARY_DIRS})
link_directories(${PCL_LIBRARY_DIRS})

add_definitions(-std=c++11)# -m64) #-Wall)

add_executable(zed_test zed_test.cpp)

target_link_libraries(
        zed_test
        ${ZED_LIBRARIES}
        ${CUDA_LIBRARIES} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY}
        ${PCL_LIBRARIES}
    )

zed_test.cpp：

#include <cstdio>
#include <thread>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/features/integral_image_normal.h>

#include <zed/Camera.hpp>

int main(int argc, char **argv) {
    std::cout << "Started\n";
    //(1)
    typedef pcl::IntegralImageNormalEstimation<pcl::PointXYZRGB, pcl::Normal> NormalEstimator;
    NormalEstimator::Ptr ne_(new NormalEstimator);

    //(2)
    sl::zed::InitParams zed_params;
    zed_params.unit = sl::zed::UNIT::METER;
    zed_params.coordinate = sl::zed::COORDINATE_SYSTEM::RIGHT_HANDED;
    zed_params.mode = sl::zed::MODE::PERFORMANCE;
    zed_params.verbose = true;
    std::unique_ptr<sl::zed::Camera> zed(new sl::zed::Camera(sl::zed::HD720, 30));
    sl::zed::ERRCODE err = sl::zed::ERRCODE::ZED_NOT_AVAILABLE;
    while (err != sl::zed::SUCCESS) {
        err = zed->init(zed_params);
        std::cout << sl::zed::errcode2str(err);
        std::this_thread::sleep_for(std::chrono::milliseconds(2000));
    }

    //(3)
    std::cout << "\nPassed.\n";

    return 0;
}

当内置到 Release 中并启动时，它经常崩溃（大约在三个连续运行中一次）并具有以下输出：

Started
ZED SDK >> (Init) Best GPU Found : GM20B , ID : 0
ZED SDK >> (Init) Disparity mode has been set to PERFORMANCE
ZED SDK >> (Init) Creating ZED GPU mem...
ZED SDK >> (Init) Starting Self-Calibration in background... 
ZED SDK >> (Init) Done...
zed_test: /usr/local/include/eigen3/Eigen/src/SVD/JacobiSVD.h:632: const MatrixVType& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::matrixV() const [with _MatrixType = Eigen::Matrix<double, 3, 3>; int QRPreconditioner = 2; Eigen::JacobiSVD<MatrixType, QRPreconditioner>::MatrixVType = Eigen::Matrix<double, 3, 3>; typename _MatrixType::Scalar = double]: Assertion `computeV() && "This JacobiSVD decomposition didn't compute V. Did you ask for it?"' failed.
SUCCESSThe program has unexpectedly finished.

（请注意，它在到达第 (3) 行之前就死了）如果我注释掉创建 pcl::IntegralImageNormalEstimation （第 (1) 行下的行）或打开 zed 相机（第 (2) 行下的行），则不会发生崩溃。如果我交换它们，崩溃仍然存在。

有人遇到过问题吗？来自stereolabs.com 的任何人都可以提示尝试解决方法？

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