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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Fail to compile #327

Open Kyle0936 opened 3 years ago

Kyle0936 commented 3 years ago

I'm following steps to compile ORB_SLAM3 using "./build.sh" after installing all the prerequisites (eigen3.2.1) and I encountered this issue on Ubuntu18.04:

-- Configuring done
-- Generating done
-- Build files have been written to: /home/kyle/ORB_SLAM3/Thirdparty/DBoW2/build
[100%] Built target DBoW2
Configuring and building Thirdparty/g2o ...
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- BUILD TYPE:Release
-- Compiling on Unix
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
  if given arguments:

    "TRUE"

  An argument named "TRUE" appears in a conditional statement.  Policy
  CMP0012 is not set: if() recognizes numbers and boolean constants.  Run
  "cmake --help-policy CMP0012" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
  CMakeLists.txt:47 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found OpenMP_C: -fopenmp  
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
  if given arguments:

    "TRUE"

  An argument named "TRUE" appears in a conditional statement.  Policy
  CMP0012 is not set: if() recognizes numbers and boolean constants.  Run
  "cmake --help-policy CMP0012" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
  CMakeLists.txt:47 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found OpenMP_CXX: -fopenmp  
-- Found OpenMP: TRUE   
-- Configuring done
-- Generating done
-- Build files have been written to: /home/kyle/ORB_SLAM3/Thirdparty/g2o/build
Scanning dependencies of target g2o
[  3%] Building CXX object CMakeFiles/g2o.dir/g2o/types/types_sba.cpp.o
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:30:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ypedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                                                     ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:30:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<3, Eigen::Matrix<double, 3, 1> >’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:40:35:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
[  6%] Building CXX object CMakeFiles/g2o.dir/g2o/types/types_six_dof_expmap.cpp.o
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ypedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                                                     ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                                                     ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                                                     ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<3, Eigen::Matrix<double, 3, 1> >’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:40:35:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<6, g2o::SE3Quat>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:59:33:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:83:24:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:114:35:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:146:41:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
[  9%] Building CXX object CMakeFiles/g2o.dir/g2o/types/types_seven_dof_expmap.cpp.o
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ypedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                                                     ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                                                     ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                                                     ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<3, Eigen::Matrix<double, 3, 1> >’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:40:35:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<6, g2o::SE3Quat>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:59:33:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:83:24:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:114:35:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:146:41:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<7, g2o::Sim3>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:48:35:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
  typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:99:27:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSim3Expmap>’:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:130:36:   required from here
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
 ef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/kyle/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:27:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
[ 12%] Building CXX object CMakeFiles/g2o.dir/g2o/core/hyper_graph_action.cpp.o
[ 16%] Building CXX object CMakeFiles/g2o.dir/g2o/core/hyper_graph.cpp.o
[ 19%] Building CXX object CMakeFiles/g2o.dir/g2o/core/marginal_covariance_cholesky.cpp.o
[ 22%] Building CXX object CMakeFiles/g2o.dir/g2o/core/matrix_structure.cpp.o
[ 25%] Building CXX object CMakeFiles/g2o.dir/g2o/core/batch_stats.cpp.o
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[ 32%] Building CXX object CMakeFiles/g2o.dir/g2o/core/cache.cpp.o
[ 35%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimizable_graph.cpp.o
[ 38%] Building CXX object CMakeFiles/g2o.dir/g2o/core/solver.cpp.o
[ 41%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_factory.cpp.o
[ 45%] Building CXX object CMakeFiles/g2o.dir/g2o/core/estimate_propagator.cpp.o
[ 48%] Building CXX object CMakeFiles/g2o.dir/g2o/core/factory.cpp.o
[ 51%] Building CXX object CMakeFiles/g2o.dir/g2o/core/sparse_optimizer.cpp.o
[ 54%] Building CXX object CMakeFiles/g2o.dir/g2o/core/hyper_dijkstra.cpp.o
[ 58%] Building CXX object CMakeFiles/g2o.dir/g2o/core/parameter_container.cpp.o
[ 61%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm.cpp.o
[ 64%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_with_hessian.cpp.o
[ 67%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_levenberg.cpp.o
[ 70%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_gauss_newton.cpp.o
[ 74%] Building CXX object CMakeFiles/g2o.dir/g2o/core/jacobian_workspace.cpp.o
[ 77%] Building CXX object CMakeFiles/g2o.dir/g2o/core/robust_kernel.cpp.o
[ 80%] Building CXX object CMakeFiles/g2o.dir/g2o/core/robust_kernel_factory.cpp.o
[ 83%] Building CXX object CMakeFiles/g2o.dir/g2o/core/robust_kernel_impl.cpp.o
[ 87%] Building CXX object CMakeFiles/g2o.dir/g2o/stuff/timeutil.cpp.o
[ 90%] Building C object CMakeFiles/g2o.dir/g2o/stuff/os_specific.c.o
[ 93%] Building CXX object CMakeFiles/g2o.dir/g2o/stuff/string_tools.cpp.o
[ 96%] Building CXX object CMakeFiles/g2o.dir/g2o/stuff/property.cpp.o
[100%] Linking CXX shared library ../lib/libg2o.so
[100%] Built target g2o
Uncompress vocabulary ...
Configuring and building ORB_SLAM3 ...
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
Build type: Release
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using flag -std=c++11.
CMake Warning at CMakeLists.txt:36 (find_package):
  Could not find a configuration file for package "OpenCV" that is compatible
  with requested version "4.0".

  The following configuration files were considered but not accepted:

    /usr/share/OpenCV/OpenCVConfig.cmake, version: 3.2.0

-- Found OpenCV: /usr (found suitable version "3.2.0", minimum required is "3.0") 
OPENCV VERSION:
3.2.0
CMake Warning at CMakeLists.txt:49 (find_package):
  By not providing "Findrealsense2.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "realsense2", but CMake did not find one.

  Could not find a package configuration file provided by "realsense2" with
  any of the following names:

    realsense2Config.cmake
    realsense2-config.cmake

  Add the installation prefix of "realsense2" to CMAKE_PREFIX_PATH or set
  "realsense2_DIR" to a directory containing one of the above files.  If
  "realsense2" provides a separate development package or SDK, be sure it has
  been installed.

-- BUILD TYPE:Release
-- Compiling on Unix
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
  if given arguments:

    "TRUE"

  An argument named "TRUE" appears in a conditional statement.  Policy
  CMP0012 is not set: if() recognizes numbers and boolean constants.  Run
  "cmake --help-policy CMP0012" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
  Thirdparty/g2o/CMakeLists.txt:47 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found OpenMP_C: -fopenmp  
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
  if given arguments:

    "TRUE"

  An argument named "TRUE" appears in a conditional statement.  Policy
  CMP0012 is not set: if() recognizes numbers and boolean constants.  Run
  "cmake --help-policy CMP0012" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
  Thirdparty/g2o/CMakeLists.txt:47 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found OpenMP_CXX: -fopenmp  
-- Found OpenMP: TRUE   
-- Configuring done
-- Generating done
-- Build files have been written to: /home/kyle/ORB_SLAM3/build
Scanning dependencies of target g2o
Scanning dependencies of target ORB_SLAM3
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[  3%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/types/types_sba.cpp.o
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[ 34%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/stuff/timeutil.cpp.o
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[ 36%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/robust_kernel_factory.cpp.o
[ 37%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/LocalMapping.cc.o
[ 39%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/System.cc.o
[ 47%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/MapPoint.cc.o
[ 41%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o
[ 42%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/ORBextractor.cc.o
[ 43%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o
[ 45%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o
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[ 48%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/FrameDrawer.cc.o
[ 52%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Viewer.cc.o
[ 52%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Frame.cc.o
[ 53%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Sim3Solver.cc.o
[ 56%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Converter.cc.o
[ 57%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/KeyFrame.cc.o
[ 58%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Atlas.cc.o
[ 50%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Map.cc.o
[ 58%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/ImuTypes.cc.o
[ 60%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/MapDrawer.cc.o
[ 62%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Initializer.cc.o
[ 64%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/KeyFrameDatabase.cc.o
[ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/MLPnPsolver.cpp.o
[ 60%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/OptimizableTypes.cpp.o
[ 63%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/G2oTypes.cc.o
[ 65%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/CameraModels/KannalaBrandt8.cpp.o
[ 67%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/TwoViewReconstruction.cc.o
[ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/CameraModels/Pinhole.cpp.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
Thirdparty/g2o/CMakeFiles/g2o.dir/build.make:518: recipe for target 'Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_with_hessian.cpp.o' failed
make[2]: *** [Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_with_hessian.cpp.o] Error 4
make[2]: *** Waiting for unfinished jobs....
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
Thirdparty/g2o/CMakeFiles/g2o.dir/build.make:182: recipe for target 'Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/marginal_covariance_cholesky.cpp.o' failed
make[2]: *** [Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/marginal_covariance_cholesky.cpp.o] Error 4

Many thanks in advance for any suggesiton!

georgidimitrovx commented 3 years ago

c++: internal compiler error: Killed (program cc1plus)

This means that there isn't enough RAM available to finish making. Check here for resolution https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/118#issuecomment-726648539

ravilakhotia2006 commented 2 years ago

@Kyle0936 - were you able to resolve this issue ? I am getting the same errors and removing -j from make -j in build.sh doesn't fix anything.