Optimization Problem for Fast GICP (OpenMP)

[robertsenps]

Hi author.
Thanks for your fabulous work.

Your work is almost perfect in terms of scan matching, it works good and also fast. But there is one question that I want to ask to you :). I have a program (basically a scan matching algorithm) that uses your library "fast_gicp". I found something unusual happened. I tried to use CMAKE_BUILD_TYPE=Debug, for debug purposes and it was completely working. However, when I change this parameter in my program by using CMAKE_BUILD_TYPE=Release, it doesn't work.

I tried to manually set my flag by myself:

• -O0 and -g for reproducing the debug mode
• -O2 for reproducing the release mode

The -O0 is working nicely. Do you know why it won't work when I set the optimization flag greater than O0 ? I did the debugging, and it said that it has something with std::vector overload and OpenMP something. I have checked that it is coming from fast_gicp

I would be very grateful if you can help me :). Thanks.