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gaoxiang12 / ORBSLAM2_with_pointcloud_map

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ERROR Building g2o_modified #3

Open bord91 opened 8 years ago

bord91 commented 8 years ago

I have some problems at 36% with the building of edge.se2.h or similar, but when i try to build the original g20 there isn't any problem!! So For thgis reason i think there is not any problem with the dependencies. Any Idea to solve this problem. Thanks

gaoxiang12 commented 8 years ago

Do you have the compile error information? Please paste it here so that i can see what happens.

bord91 commented 8 years ago

Scanning dependencies of target freeglut_minimal [ 0%] Building CXX object EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_font.cpp.o [ 0%] Building CXX object EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o [ 1%] Building CXX object EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_roman.cpp.o Linking CXX shared library ../../../lib/libg2o_ext_freeglut_minimal.so [ 1%] Built target freeglut_minimal Scanning dependencies of target opengl_helper [ 2%] Building CXX object g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o Linking CXX shared library ../../../lib/libg2o_opengl_helper.so [ 2%] Built target opengl_helper Scanning dependencies of target stuff [ 2%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/timeutil.cpp.o [ 3%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/command_args.cpp.o [ 3%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/sparse_helper.cpp.o [ 4%] Building C object g2o/stuff/CMakeFiles/stuff.dir/os_specific.c.o [ 4%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/filesys_tools.cpp.o [ 5%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/string_tools.cpp.o [ 5%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/property.cpp.o [ 6%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/sampler.cpp.o [ 6%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/tictoc.cpp.o Linking CXX shared library ../../../lib/libg2o_stuff.so [ 6%] Built target stuff Scanning dependencies of target core [ 6%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_graph_action.cpp.o [ 7%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_graph.cpp.o [ 7%] Building CXX object g2o/core/CMakeFiles/core.dir/marginal_covariance_cholesky.cpp.o [ 7%] Building CXX object g2o/core/CMakeFiles/core.dir/matrix_structure.cpp.o [ 8%] Building CXX object g2o/core/CMakeFiles/core.dir/batch_stats.cpp.o [ 8%] Building CXX object g2o/core/CMakeFiles/core.dir/parameter.cpp.o [ 9%] Building CXX object g2o/core/CMakeFiles/core.dir/cache.cpp.o [ 9%] Building CXX object g2o/core/CMakeFiles/core.dir/optimizable_graph.cpp.o [ 10%] Building CXX object g2o/core/CMakeFiles/core.dir/solver.cpp.o [ 10%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_factory.cpp.o [ 11%] Building CXX object g2o/core/CMakeFiles/core.dir/estimate_propagator.cpp.o [ 11%] Building CXX object g2o/core/CMakeFiles/core.dir/factory.cpp.o [ 12%] Building CXX object g2o/core/CMakeFiles/core.dir/sparse_optimizer.cpp.o [ 12%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_dijkstra.cpp.o [ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/parameter_container.cpp.o [ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm.cpp.o [ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o [ 14%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_gauss_newton.cpp.o [ 14%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_levenberg.cpp.o [ 15%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_dogleg.cpp.o [ 15%] Building CXX object g2o/core/CMakeFiles/core.dir/sparse_optimizer_terminate_action.cpp.o [ 16%] Building CXX object g2o/core/CMakeFiles/core.dir/jacobian_workspace.cpp.o [ 16%] Building CXX object g2o/core/CMakeFiles/core.dir/robust_kernel.cpp.o [ 17%] Building CXX object g2o/core/CMakeFiles/core.dir/robust_kernel_impl.cpp.o [ 17%] Building CXX object g2o/core/CMakeFiles/core.dir/robust_kernel_factory.cpp.o Linking CXX shared library ../../../lib/libg2o_core.so [ 17%] Built target core Scanning dependencies of target g2o_cli_library [ 17%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o [ 18%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/output_helper.cpp.o [ 18%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/g2o_common.cpp.o Linking CXX shared library ../../../../lib/libg2o_cli.so [ 18%] Built target g2o_cli_library Scanning dependencies of target g2o_cli_application [ 19%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/g2o.cpp.o Linking CXX executable ../../../../bin/g2o [ 19%] Built target g2o_cli_application Scanning dependencies of target types_slam3d [ 19%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/dquat2mat.cpp.o [ 19%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o [ 20%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o [ 20%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 21%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/parameter_se3_offset.cpp:28: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 21%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.h:4:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.cpp:1: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.h:4:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.cpp:1: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.h:7, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.cpp:1: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 22%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_offset.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_offset.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_offset.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_offset.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_offset.h:32, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_offset.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 22%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_pointxyz.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_pointxyz.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 23%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o [ 23%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o [ 24%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz.h:32, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 24%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_disparity.h:30, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_disparity.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_disparity.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ [ 25%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_depth.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_depth.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_depth.h:32, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 25%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_prior.h:30, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_prior.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 25%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_lotsofxyz.h:6:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_lotsofxyz.cpp:1: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:67:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_lotsofxyz.h:6:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_lotsofxyz.cpp:1: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:129:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_lotsofxyz.h:7, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_lotsofxyz.cpp:1: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 26%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_pointxyz.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_pointxyz.h:30, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_pointxyz.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_pointxyz.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_pointxyz.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_pointxyz.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_pointxyz.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ [ 26%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.h:21:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.cpp:17: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.h:22:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.cpp:17: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.h:22:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.cpp:17: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_lotsofxyz.h:6:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.h:43, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.cpp:17: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:67:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3_lotsofxyz.h:6:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.h:43, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/types_slam3d.cpp:17: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:129:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ Linking CXX shared library ../../../../lib/libg2o_types_slam3d.so [ 26%] Built target types_slam3d Scanning dependencies of target g2o_hierarchical_library [ 26%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_labeler.cpp.o [ 27%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_creator.cpp.o [ 27%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/star.cpp.o [ 28%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_types_cost_function.cpp.o [ 28%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/backbone_tree_action.cpp.o [ 29%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/simple_star_ops.cpp.o [ 29%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/g2o_hierarchical_test_functions.cpp.o Linking CXX shared library ../../../../lib/libg2o_hierarchical.so [ 29%] Built target g2o_hierarchical_library Scanning dependencies of target g2o_hierarchical_application [ 30%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_application.dir/g2o_hierarchical.cpp.o Linking CXX executable ../../../../bin/g2o_hierarchical [ 30%] Built target g2o_hierarchical_application Scanning dependencies of target types_slam3d_addons [ 31%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_se3_euler.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_se3_euler.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 31%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.h:4:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_euler.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_euler.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.h:4:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_euler.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_euler.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/edge_se3.h:7, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_euler.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_euler.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 32%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_plane.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_plane.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 32%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_plane_calib.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_plane_calib.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp:28: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:67:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_plane_calib.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp:28: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:129:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_plane_calib.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp:28: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 33%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o [ 33%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_line3d.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_line3d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 34%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_line.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_line.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_line.h:30:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_line.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_line3d.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_line.h:34, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_line.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 34%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_line3d.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_line3d.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_line3d.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_line3d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_line3d.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_line3d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_line3d.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_line3d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ [ 35%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_plane.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/vertex_plane.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_plane.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_plane.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_plane.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_plane.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_plane.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_plane.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ [ 35%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_calib.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_calib.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:67:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_calib.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_calib.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:129:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d/vertex_se3.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_calib.h:32, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/edge_se3_calib.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 35%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types//slam3d/edge_se3_lotsofxyz.h:6:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types//slam3d/types_slam3d.h:43, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.h:34, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:67:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types//slam3d/edge_se3_lotsofxyz.h:6:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types//slam3d/types_slam3d.h:43, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.h:34, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam3d_addons/types_slam3d_addons.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:129:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ Linking CXX shared library ../../../../lib/libg2o_types_slam3d_addons.so [ 35%] Built target types_slam3d_addons Scanning dependencies of target types_slam2d [ 36%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2.h:30, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ [ 36%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_calib.h:30, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_calib.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_calib.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_calib.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:67:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_calib.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_calib.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:129:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 37%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.h:36, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.h:36, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_calib.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.h:39, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:67:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_calib.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.h:39, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/types_slam2d.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_multi_edge.h:129:61: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 37%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_point_xy.h:32:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_point_xy.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 38%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ [ 38%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ [ 39%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:31:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_vertex.h:59:131: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:58:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockType; ^ In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/core/base_binary_edge.h:60:111: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations] Eigen::Matrix<double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > HessianBlockTransposedType; ^ /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxybearing.cpp: In member function ‘virtual void g2o::EdgeSE2PointXYBearing::initialEstimate(const VertexSet&, g2o::OptimizableGraph::Vertex)’: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:51:52: error: no matching function for call to ‘g2o::SE2::setRotation(Eigen::Rotation2D::Scalar)’ t.setRotation(t.rotation().angle()+_measurement); ^ /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:51:52: note: candidate is: In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:33:0, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.h:31, from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:27: /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_withorbslam2/g2o/types/slam2d/se2.h:59:12: note: void g2o::SE2::setRotation(const Rotation2Dd&) void setRotation(const Eigen::Rotation2Dd& R) {R=R;} ^ /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_withorbslam2/g2o/types/slam2d/se2.h:59:12: note: no known conversion for argument 1 from ‘Eigen::Rotation2D::Scalar {aka double}’ to ‘const Rotation2Dd& {aka const Eigen::Rotation2D&}’ make[2]: ** [g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o] Errore 1 make[1]: * [g2o/types/slam2d/CMakeFiles/types_slam2d.dir/all] Errore 2 make: * [all] Errore 2

This is all the make compilation of g20_modified package...thanks very well!!

seaun163 commented 7 years ago

@bord91 I have the same problem with you ,I solved it by reinstalled Eigen V2.10

wangzheqie commented 7 years ago

First Message

[ 39%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o In file included from /home/matteo/ORBSLAM2_mod_ws/src/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:31:0,

Second Message

error: no matching function for call to ‘g2o::SE2::setRotation(Eigen::Rotation2D::Scalar)’ t.setRotation(t.rotation().angle()+measurement);

Solution

try change from t.setRotation(t.rotation().angle()+measurement) to t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+measurement))

yubingex007 commented 7 years ago

i tried change from t.setRotation(t.rotation().angle()+measurement) to t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+measurement)) however, it didnt work . [ 43%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/star.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 ^ [ 44%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o 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 make[1]: *** Waiting for unfinished jobs....

SubhiH commented 6 years ago

In g2o/types/slam2d/edge_se2_pointxy_bearing.cpp line 51 change:

t.setRotation(t.rotation().angle()+_measurement);

to

t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+_measurement));

hanxiumeng commented 4 years ago

@yubingex007 The cause of the problem: Eigen3 bug Solution: Open /g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h and change typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix; to typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;

YuhsiHu commented 3 years ago

Hey guys, I had a new error the same as this but I do not know how to fix it. Compile info is as follows:

g2o/examples/target/CMakeFiles/constant_velocity_target.dir/build.make:81: recipe for target 'g2o/examples/target/CMakeFiles/constant_velocity_target.dir/constant_velocity_target.cpp.o' failed make[2]: [g2o/examples/target/CMakeFiles/constant_velocity_target.dir/constant_velocity_target.cpp.o] Error 1 CMakeFiles/Makefile2:2305: recipe for target 'g2o/examples/target/CMakeFiles/constant_velocity_target.dir/all' failed make[1]: [g2o/examples/target/CMakeFiles/constant_velocity_target.dir/all] Error 2 Makefile:148: recipe for target 'all' failed make: *** [all] Error 2