[ 84%] Building CXX object g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o In file included from /usr/include/eigen3/Eigen/Core:297:0, from /usr/include/eigen3/Eigen/SparseCore:11, from /usr/include/eigen3/Eigen/Sparse:26, from /home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:30, from /home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/solver_eigen.cpp:17: /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op]’: /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712:27: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void>::type = void]’ /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693:18: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]’ /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32: required from ‘Derived& Eigen::PlainObjectBase::_set(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’ /usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’ /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:367:17: required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]’ /home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:66:18: required from ‘void g2o::LinearSolverEigen::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, -1, -1>; g2o::LinearSolverEigen::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’ /home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:193:9: required from ‘void g2o::LinearSolverEigen::computeSymbolicDecomposition(const g2o::SparseBlockMatrix&) [with MatrixType = Eigen::Matrix<double, -1, -1>]’ /home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:98:37: required from ‘bool g2o::LinearSolverEigen::solve(const g2o::SparseBlockMatrix&, double, double*) [with MatrixType = Eigen::Matrix<double, -1, -1>]’ /home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/solver_eigen.cpp:111:1: required from here /usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY

define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);

/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:707:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’ EIGEN_STATIC_ASSERT((internal::functor_is_product_like::ret \ ^ /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: note: in expansion of macro ‘EIGEN_CHECK_BINARY_COMPATIBILIY’ EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,ty ^ g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/build.make:62: recipe for target 'g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o' failed make[2]: [g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o] Error 1 CMakeFiles/Makefile2:1955: recipe for target 'g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/all' failed make[1]: [g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/all] Error 2 Makefile:127: recipe for target 'all' failed make: *** [all] Error 2

gaoxiang12 / ORBSLAM2_with_pointcloud_map

problem with compiling g2o_with_orbslam2 #18

define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);