make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o] Error 4 make[1]: * [CMakeFiles/ORB_SLAM2.dir/all] Error 2 make: *\ [all] Error 2

i have tried to restall the ORB_SLAM2, but the errors still exist . i really do not know what to do next ,pleease help me out ,thank u very much

@sakurazhu Could you pose all the compile output? There should be some lines before.

Also remocing -j from build.sh to make the build sequential rather than parallel could help debugging On Apr 15, 2016 4:11 PM, "joyousrabbit" notifications@github.com wrote:

@sakurazhu https://github.com/sakurazhu Could you pose all the compile output? There should be some lines before.

— You are receiving this because you are subscribed to this thread. Reply to this email directly or view it on GitHub https://github.com/raulmur/ORB_SLAM2/issues/68#issuecomment-210477473

The before lines are as follow: PS : I have tried make -j4 when debugging this time ,but the error still there.@poine @joyousrabbit `[ 16%] Building CXX object modules/nonfree/CMakeFiles/opencv_perf_nonfree_pch_dephelp.dir/opencv_perf_nonfree_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_perf_ocl_pch_dephelp.a [ 16%] Built target opencv_perf_ocl_pch_dephelp [ 16%] Generating opencv_test_nonfree_pch_dephelp.cxx Scanning dependencies of target opencv_test_nonfree_pch_dephelp [ 16%] Building CXX object modules/nonfree/CMakeFiles/opencv_test_nonfree_pch_dephelp.dir/opencv_test_nonfree_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_nonfree_pch_dephelp.a [ 16%] Built target opencv_nonfree_pch_dephelp [ 16%] Generating opencv_contrib_pch_dephelp.cxx Scanning dependencies of target opencv_contrib_pch_dephelp [ 16%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib_pch_dephelp.dir/opencv_contrib_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_test_ocl_pch_dephelp.a [ 16%] Built target opencv_test_ocl_pch_dephelp [ 16%] Generating opencv_test_contrib_pch_dephelp.cxx Scanning dependencies of target opencv_test_contrib_pch_dephelp [ 16%] Building CXX object modules/contrib/CMakeFiles/opencv_test_contrib_pch_dephelp.dir/opencv_test_contrib_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_perf_nonfree_pch_dephelp.a [ 16%] Built target opencv_perf_nonfree_pch_dephelp [ 16%] Generating opencv_stitching_pch_dephelp.cxx Scanning dependencies of target opencv_stitching_pch_dephelp [ 17%] Building CXX object modules/stitching/CMakeFiles/opencv_stitching_pch_dephelp.dir/opencv_stitching_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_contrib_pch_dephelp.a [ 17%] Built target opencv_contrib_pch_dephelp [ 17%] Generating opencv_perf_stitching_pch_dephelp.cxx Linking CXX static library ../../lib/libopencv_test_nonfree_pch_dephelp.a Scanning dependencies of target opencv_perf_stitching_pch_dephelp [ 17%] Built target opencv_test_nonfree_pch_dephelp [ 17%] Building CXX object modules/stitching/CMakeFiles/opencv_perf_stitching_pch_dephelp.dir/opencv_perf_stitching_pch_dephelp.cxx.o [ 17%] Generating opencv_test_stitching_pch_dephelp.cxx Scanning dependencies of target opencv_test_stitching_pch_dephelp [ 18%] Building CXX object modules/stitching/CMakeFiles/opencv_test_stitching_pch_dephelp.dir/opencv_test_stitching_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_test_contrib_pch_dephelp.a [ 18%] Built target opencv_test_contrib_pch_dephelp [ 18%] Generating opencv_perf_superres_pch_dephelp.cxx Scanning dependencies of target opencv_perf_superres_pch_dephelp [ 18%] Building CXX object modules/superres/CMakeFiles/opencv_perf_superres_pch_dephelp.dir/opencv_perf_superres_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_stitching_pch_dephelp.a [ 18%] Built target opencv_stitching_pch_dephelp [ 18%] Generating opencv_superres_pch_dephelp.cxx Scanning dependencies of target opencv_superres_pch_dephelp [ 19%] Building CXX object modules/superres/CMakeFiles/opencv_superres_pch_dephelp.dir/opencv_superres_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_perf_stitching_pch_dephelp.a [ 19%] Built target opencv_perf_stitching_pch_dephelp [ 19%] Generating opencv_test_superres_pch_dephelp.cxx Scanning dependencies of target opencv_test_superres_pch_dephelp [ 19%] Building CXX object modules/superres/CMakeFiles/opencv_test_superres_pch_dephelp.dir/opencv_test_superres_pch_dephelp.cxx.o Linking CXX static library ../../lib/libopencv_test_stitching_pch_dephelp.a [ 19%] Built target opencv_test_stitching_pch_dephelp [ 19%] Linking CXX static library ../../lib/libopencv_superres_pch_dephelp.a Generating opencv_videostab_pch_dephelp.cxx [ 19%] Built target opencv_superres_pch_dephelp Scanning dependencies of target libtiff Linking CXX static library ../../lib/libopencv_perf_superres_pch_dephelp.a Scanning dependencies of target opencv_videostab_pch_dephelp [ 19%] Built target opencv_perf_superres_pch_dephelp [ 20%] [ 20%] Building CXX object modules/videostab/CMakeFiles/opencv_videostab_pch_dephelp.dir/opencv_videostab_pch_dephelp.cxx.o Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_aux.c.o Scanning dependencies of target libpng [ 21%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngset.c.o [ 21%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_close.c.o [ 21%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_codec.c.o [ 21%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_color.c.o [ 21%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngrtran.c.o [ 21%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_compress.c.o [ 21%] Linking CXX static library ../../lib/libopencv_videostab_pch_dephelp.a Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_dir.c.o [ 21%] Built target opencv_videostab_pch_dephelp Scanning dependencies of target IlmImf [ 21%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/Half/half.cpp.o [ 21%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_dirinfo.c.o Linking CXX static library ../../lib/libopencv_test_superres_pch_dephelp.a [ 21%] Built target opencv_test_superres_pch_dephelp Scanning dependencies of target pch_Generate_opencv_core [ 21%] Generating precomp.hpp [ 21%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_dirread.c.o [ 21%] Generating precomp.hpp.gch/opencv_core_Release.gch [ 21%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngmem.c.o [ 21%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/png.c.o [ 21%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/Iex/IexBaseExc.cpp.o [ 21%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/Iex/IexThrowErrnoExc.cpp.o [ 21%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngread.c.o [ 21%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngwutil.c.o [ 22%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_dirwrite.c.o [ 22%] Built target pch_Generate_opencv_core [ 22%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_dumpmode.c.o [ 22%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_error.c.o [ 22%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngerror.c.o [ 22%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_extension.c.o [ 22%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmThread/IlmThread.cpp.o [ 22%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_fax3.c.o [ 22%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngtrans.c.o [ 22%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngget.c.o [ 22%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmThread/IlmThreadPosix.cpp.o [ 22%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_fax3sm.c.o [ 22%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmThread/IlmThreadSemaphorePosix.cpp.o Scanning dependencies of target pch_Generate_opencv_ts [ 22%] [ 22%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngwrite.c.o Generating precomp.hpp [ 22%] Generating precomp.hpp.gch/opencv_ts_Release.gch [ 22%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmThread/IlmThreadSemaphore.cpp.o [ 22%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmThread/IlmThreadMutex.cpp.o [ 22%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmThread/IlmThreadMutexPosix.cpp.o [ 22%] [ 22%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngwio.c.o Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_flush.c.o [ 22%] [ 23%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngrio.c.o Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_getimage.c.o [ 23%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngpread.c.o [ 23%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmThread/IlmThreadPool.cpp.o [ 23%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngwtran.c.o [ 23%] Building C object 3rdparty/libpng/CMakeFiles/libpng.dir/pngrutil.c.o [ 23%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmThread/IlmThreadSemaphorePosixCompat.cpp.o [ 24%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/Imath/ImathMatrixAlgo.cpp.o Linking C static library ../lib/liblibpng.a [ 24%] Built target libpng Scanning dependencies of target pch_Generate_opencv_flann [ 24%] Generating precomp.hpp [ 24%] Generating precomp.hpp.gch/opencv_flann_Release.gch [ 24%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_jbig.c.o [ 24%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_jpeg_12.c.o [ 24%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_jpeg.c.o [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_luv.c.o [ 25%] Built target pch_Generate_opencv_ts Scanning dependencies of target pch_Generate_opencv_imgproc [ 25%] Generating precomp.hpp [ 25%] Generating precomp.hpp.gch/opencv_imgproc_Release.gch [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_lzma.c.o [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_lzw.c.o [ 25%] [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_next.c.o Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/Imath/ImathRandom.cpp.o [ 25%] [ 25%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/Imath/ImathColorAlgo.cpp.o Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_ojpeg.c.o [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_open.c.o [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_packbits.c.o [ 25%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/Imath/ImathFun.cpp.o [ 25%] Built target pch_Generate_opencv_flann Scanning dependencies of target pch_Generate_opencv_highgui [ 25%] [ 25%] Generating precomp.hpp Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_pixarlog.c.o [ 25%] [ 25%] Generating precomp.hpp.gch/opencv_highgui_Release.gch Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/Imath/ImathVec.cpp.o [ 25%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfRationalAttribute.cpp.o [ 25%] Built target pch_Generate_opencv_imgproc [ 25%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTileOffsets.cpp.o [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_predict.c.o [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_print.c.o Scanning dependencies of target pch_Generate_opencv_features2d [ 25%] Generating precomp.hpp [ 25%] Generating precomp.hpp.gch/opencv_features2d_Release.gch [ 25%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_read.c.o [ 26%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_strip.c.o [ 26%] Built target pch_Generate_opencv_highgui [ 26%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_swab.c.o [ 26%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfStringVectorAttribute.cpp.o [ 26%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_thunder.c.o [ 26%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_tile.c.o [ 26%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfOutputFile.cpp.o [ 26%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_version.c.o [ 26%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_warning.c.o Scanning dependencies of target pch_Generate_opencv_video [ 26%] [ 26%] Generating precomp.hpp Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_write.c.o [ 26%] Generating precomp.hpp.gch/opencv_video_Release.gch [ 26%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_zip.c.o [ 26%] Building CXX object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_stream.cxx.o [ 26%] Building C object 3rdparty/libtiff/CMakeFiles/libtiff.dir/tif_unix.c.o [ 26%] Built target pch_Generate_opencv_features2d Scanning dependencies of target pch_Generate_opencv_perf_core Linking CXX static library ../lib/liblibtiff.a [ 26%] Generating perf_precomp.hpp [ 26%] [ 26%] Built target libtiff Generating perf_precomp.hpp.gch/opencv_perf_core_Release.gch Scanning dependencies of target pch_Generate_opencv_test_core [ 26%] Generating test_precomp.hpp [ 26%] Generating test_precomp.hpp.gch/opencv_test_core_Release.gch [ 26%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfPizCompressor.cpp.o [ 26%] Built target pch_Generate_opencv_video Scanning dependencies of target pch_Generate_opencv_test_flann [ 27%] Generating test_precomp.hpp [ 27%] Generating test_precomp.hpp.gch/opencv_test_flann_Release.gch [ 27%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfRational.cpp.o [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfAcesFile.cpp.o [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTimeCodeAttribute.cpp.o [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfChromaticities.cpp.o [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTiledMisc.cpp.o [ 28%] Built target pch_Generate_opencv_perf_core Scanning dependencies of target pch_Generate_opencv_perf_imgproc [ 28%] [ 28%] Generating perf_precomp.hpp Built target pch_Generate_opencv_test_core [ 28%] Scanning dependencies of target pch_Generate_opencv_test_imgproc Generating perf_precomp.hpp.gch/opencv_perf_imgproc_Release.gch [ 28%] Generating test_precomp.hpp [ 28%] Generating test_precomp.hpp.gch/opencv_test_imgproc_Release.gch [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfStdIO.cpp.o [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTileDescriptionAttribute.cpp.o [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfPreviewImageAttribute.cpp.o [ 28%] Built target pch_Generate_opencv_test_flann Scanning dependencies of target pch_Generate_opencv_perf_highgui [ 28%] Generating perf_precomp.hpp [ 28%] Generating perf_precomp.hpp.gch/opencv_perf_highgui_Release.gch [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfPreviewImage.cpp.o [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfEnvmapAttribute.cpp.o [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfHeader.cpp.o [ 28%] Built target pch_Generate_opencv_perf_imgproc Scanning dependencies of target pch_Generate_opencv_test_highgui [ 28%] Built target pch_Generate_opencv_test_imgproc [ 28%] Scanning dependencies of target pch_Generate_opencv_perf_features2d Generating test_precomp.hpp [ 28%] Generating perf_precomp.hpp [ 28%] Generating perf_precomp.hpp.gch/opencv_perf_features2d_Release.gch [ 28%] Generating test_precomp.hpp.gch/opencv_test_highgui_Release.gch [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfMultiView.cpp.o [ 28%] Built target pch_Generate_opencv_perf_highgui [ 28%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfOpaqueAttribute.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfInputFile.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfChannelListAttribute.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfThreading.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfVersion.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfStandardAttributes.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfFramesPerSecond.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfChannelList.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfPxr24Compressor.cpp.o [ 29%] Built target pch_Generate_opencv_perf_features2d Scanning dependencies of target pch_Generate_opencv_test_features2d [ 29%] Generating test_precomp.hpp [ 29%] Generating test_precomp.hpp.gch/opencv_test_features2d_Release.gch [ 29%] Built target pch_Generate_opencv_test_highgui Scanning dependencies of target pch_Generate_opencv_calib3d [ 29%] Generating precomp.hpp [ 29%] Generating precomp.hpp.gch/opencv_calib3d_Release.gch [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfCompressor.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfMatrixAttribute.cpp.o [ 29%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/b44ExpLogTable.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfB44Compressor.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfDoubleAttribute.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfKeyCodeAttribute.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfWav.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfRgbaFile.cpp.o [ 30%] Built target pch_Generate_opencv_calib3d Scanning dependencies of target pch_Generate_opencv_perf_calib3d [ 30%] Generating perf_precomp.hpp [ 30%] Generating perf_precomp.hpp.gch/opencv_perf_calib3d_Release.gch [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfIO.cpp.o [ 30%] Built target pch_Generate_opencv_test_features2d [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfRleCompressor.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfHuf.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfAttribute.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTiledOutputFile.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfCRgbaFile.cpp.o [ 30%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfFloatAttribute.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTimeCode.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfZipCompressor.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfLut.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfIntAttribute.cpp.o Scanning dependencies of target pch_Generate_opencv_test_calib3d [ 31%] Generating test_precomp.hpp [ 31%] Built target pch_Generate_opencv_perf_calib3d [ 31%] Scanning dependencies of target pch_Generate_opencv_ml Generating test_precomp.hpp.gch/opencv_test_calib3d_Release.gch [ 31%] Generating precomp.hpp [ 31%] Generating precomp.hpp.gch/opencv_ml_Release.gch Scanning dependencies of target pch_Generate_opencv_test_ml [ 31%] Generating test_precomp.hpp [ 31%] Generating test_precomp.hpp.gch/opencv_test_ml_Release.gch [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTestFile.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfLineOrderAttribute.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfRgbaYca.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfChromaticitiesAttribute.cpp.o [ 31%] Built target pch_Generate_opencv_ml Scanning dependencies of target pch_Generate_opencv_perf_video [ 31%] Generating perf_precomp.hpp [ 31%] Generating perf_precomp.hpp.gch/opencv_perf_video_Release.gch [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfConvert.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfBoxAttribute.cpp.o [ 31%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfVecAttribute.cpp.o [ 31%] Built target pch_Generate_opencv_test_calib3d Scanning dependencies of target pch_Generate_opencv_test_video [ 31%] Generating test_precomp.hpp [ 32%] Generating test_precomp.hpp.gch/opencv_test_video_Release.gch [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTiledInputFile.cpp.o [ 33%] Built target pch_Generate_opencv_test_ml Scanning dependencies of target pch_Generate_opencv_legacy [ 33%] Generating precomp.hpp [ 33%] Generating precomp.hpp.gch/opencv_legacy_Release.gch [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfStringAttribute.cpp.o [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfKeyCode.cpp.o [ 33%] Built target pch_Generate_opencv_perf_video [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfMisc.cpp.o [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfFrameBuffer.cpp.o [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfScanLineInputFile.cpp.o [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfEnvmap.cpp.o [ 33%] Built target pch_Generate_opencv_legacy Scanning dependencies of target pch_Generate_opencv_test_legacy [ 33%] Generating test_precomp.hpp [ 33%] Generating test_precomp.hpp.gch/opencv_test_legacy_Release.gch [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfTiledRgbaFile.cpp.o [ 33%] Built target pch_Generate_opencv_test_video Scanning dependencies of target pch_Generate_opencv_objdetect [ 33%] Generating precomp.hpp [ 33%] Generating precomp.hpp.gch/opencv_objdetect_Release.gch [ 33%] Building CXX object 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfCompressionAttribute.cpp.o Scanning dependencies of target pch_Generate_opencv_perf_objdetect [ 33%] Generating perf_precomp.hpp [ 33%] Generating perf_precomp.hpp.gch/opencv_perf_objdetect_Release.gch Linking CXX static library ../lib/libIlmImf.a [ 33%] Built target IlmImf Scanning dependencies of target pch_Generate_opencv_test_objdetect [ 33%] Generating test_precomp.hpp [ 33%] Generating test_precomp.hpp.gch/opencv_test_objdetect_Release.gch [ 33%] Built target pch_Generate_opencv_objdetect Scanning dependencies of target pch_Generate_opencv_photo [ 33%] Generating precomp.hpp [ 33%] Generating precomp.hpp.gch/opencv_photo_Release.gch [ 33%] Built target pch_Generate_opencv_test_legacy Scanning dependencies of target pch_Generate_opencv_perf_photo [ 33%] Generating perf_precomp.hpp [ 34%] Generating perf_precomp.hpp.gch/opencv_perf_photo_Release.gch [ 34%] Built target pch_Generate_opencv_photo Scanning dependencies of target pch_Generate_opencv_test_photo [ 34%] Generating test_precomp.hpp [ 34%] Generating test_precomp.hpp.gch/opencv_test_photo_Release.gch [ 34%] Built target pch_Generate_opencv_perf_objdetect Scanning dependencies of target pch_Generate_opencv_gpu [ 34%] Generating precomp.hpp [ 35%] Generating precomp.hpp.gch/opencv_gpu_Release.gch [ 35%] Built target pch_Generate_opencv_test_objdetect Scanning dependencies of target pch_Generate_opencv_perf_gpu [ 35%] Generating perf_precomp.hpp [ 36%] Generating perf_precomp.hpp.gch/opencv_perf_gpu_Release.gch [ 36%] Built target pch_Generate_opencv_gpu Scanning dependencies of target pch_Generate_opencv_test_gpu [ 36%] Generating test_precomp.hpp [ 36%] Generating test_precomp.hpp.gch/opencv_test_gpu_Release.gch [ 36%] Built target pch_Generate_opencv_perf_photo Scanning dependencies of target pch_Generate_opencv_ocl [ 36%] Generating precomp.hpp [ 36%] Generating precomp.hpp.gch/opencv_ocl_Release.gch [ 36%] Built target pch_Generate_opencv_test_photo Scanning dependencies of target pch_Generate_opencv_perf_ocl [ 36%] Generating perf_precomp.hpp [ 36%] Generating perf_precomp.hpp.gch/opencv_perf_ocl_Release.gch [ 36%] Built target pch_Generate_opencv_test_gpu Scanning dependencies of target pch_Generate_opencv_test_ocl [ 36%] Generating test_precomp.hpp [ 36%] Generating test_precomp.hpp.gch/opencv_test_ocl_Release.gch [ 36%] Built target pch_Generate_opencv_perf_gpu Scanning dependencies of target pch_Generate_opencv_nonfree [ 37%] Generating precomp.hpp [ 37%] Generating precomp.hpp.gch/opencv_nonfree_Release.gch [ 37%] Built target pch_Generate_opencv_ocl Scanning dependencies of target pch_Generate_opencv_perf_nonfree [ 37%] Generating perf_precomp.hpp [ 37%] Generating perf_precomp.hpp.gch/opencv_perf_nonfree_Release.gch [ 37%] Built target pch_Generate_opencv_test_ocl Scanning dependencies of target pch_Generate_opencv_test_nonfree [ 37%] Generating test_precomp.hpp [ 38%] Generating test_precomp.hpp.gch/opencv_test_nonfree_Release.gch [ 38%] Built target pch_Generate_opencv_perf_ocl Scanning dependencies of target pch_Generate_opencv_contrib [ 38%] Generating precomp.hpp [ 38%] Generating precomp.hpp.gch/opencv_contrib_Release.gch [ 38%] Built target pch_Generate_opencv_nonfree Scanning dependencies of target pch_Generate_opencv_test_contrib [ 38%] Generating test_precomp.hpp [ 38%] Generating test_precomp.hpp.gch/opencv_test_contrib_Release.gch [ 38%] Built target pch_Generate_opencv_perf_nonfree Scanning dependencies of target pch_Generate_opencv_stitching [ 39%] Generating precomp.hpp [ 39%] Generating precomp.hpp.gch/opencv_stitching_Release.gch [ 39%] Built target pch_Generate_opencv_contrib Scanning dependencies of target pch_Generate_opencv_perf_stitching [ 39%] Generating perf_precomp.hpp [ 39%] Generating perf_precomp.hpp.gch/opencv_perf_stitching_Release.gch [ 39%] Built target pch_Generate_opencv_test_nonfree Scanning dependencies of target pch_Generate_opencv_test_stitching [ 39%] Generating test_precomp.hpp [ 39%] Generating test_precomp.hpp.gch/opencv_test_stitching_Release.gch [ 39%] Built target pch_Generate_opencv_test_contrib Scanning dependencies of target pch_Generate_opencv_perf_superres [ 39%] Generating perf_precomp.hpp [ 39%] Generating perf_precomp.hpp.gch/opencv_perf_superres_Release.gch [ 39%] Built target pch_Generate_opencv_stitching Scanning dependencies of target pch_Generate_opencv_superres [ 39%] Generating precomp.hpp [ 39%] Generating precomp.hpp.gch/opencv_superres_Release.gch [ 39%] Built target pch_Generate_opencv_perf_stitching Scanning dependencies of target pch_Generate_opencv_test_superres [ 39%] Generating test_precomp.hpp [ 39%] Generating test_precomp.hpp.gch/opencv_test_superres_Release.gch [ 39%] Built target pch_Generate_opencv_perf_superres Scanning dependencies of target pch_Generate_opencv_videostab [ 39%] Generating precomp.hpp [ 39%] Generating precomp.hpp.gch/opencv_videostab_Release.gch [ 39%] Built target pch_Generate_opencv_test_stitching Scanning dependencies of target opencv_core [ 39%] Built target pch_Generate_opencv_superres [ 39%] [ 39%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/parallel.cpp.o Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/gpumat.cpp.o [ 39%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/matrix.cpp.o [ 39%] [ 39%] Built target pch_Generate_opencv_videostab Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/opengl_interop.cpp.o [ 39%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/system.cpp.o [ 39%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/persistence.cpp.o /home/sakura/opencv-2.4.10/modules/core/src/system.cpp: In function ‘(static initializers for /home/sakura/opencv-2.4.10/modules/core/src/system.cpp)’: /home/sakura/opencv-2.4.10/modules/core/src/system.cpp:280:10: error: inconsistent operand constraints in an ‘asm’ make[2]: * [modules/core/CMakeFiles/opencv_core.dir/src/system.cpp.o] Error 1 make[2]: * Waiting for unfinished jobs.... [ 39%] Built target pch_Generate_opencv_test_superres make[1]: * [modules/core/CMakeFiles/opencv_core.dir/all] Error 2 make: * [all] Error 2 sakura@ubuntu:~/opencv-2.4.10/build$

@sakurazhu It's a bug of opencv2.10, you can follow this link to modifiy and rebuild opencv. http://code.opencv.org/issues/3983

If you don't want to build opencv from source code, just type: sudo apt-get install libcv-dev libcvaux-dev libhighgui-dev libopencv-dev

It works for me always.

i have tried your method,but the error happened again and one more error happened @joyousrabbit

[ 18%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/gpumat.cpp.o [ 19%] Built target pch_Generate_opencv_videostab [ 19%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/parallel.cpp.o [ 19%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/matrix.cpp.o [ 19%] [ 19%] Built target pch_Generate_opencv_superres Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/opengl_interop.cpp.o [ 20%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/system.cpp.o [ 20%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/persistence.cpp.o [ 20%] Built target pch_Generate_opencv_test_superres [ 20%] Building CXX object modules/core/CMakeFiles/opencv_core.dir/src/matmul.cpp.o /home/sakura/opencv-2.4.10/modules/core/src/system.cpp: In function ‘(static initializers for /home/sakura/opencv-2.4.10/modules/core/src/system.cpp)’: /home/sakura/opencv-2.4.10/modules/core/src/system.cpp:280:10: error: inconsistent operand constraints in an ‘asm’ make[2]: * [modules/core/CMakeFiles/opencv_core.dir/src/system.cpp.o] Error 1 make[2]: * Waiting for unfinished jobs.... make[1]: * [modules/core/CMakeFiles/opencv_core.dir/all] Error 2 make: * [all] Error 2 sakura@ubuntu:~/opencv-2.4.10/build$

i have tried gcc 4.6 and gcc 4.9 ,however ,the error still there @joyousrabbit @poine @raulmur

@sakurazhu Did you modifified the source code as explained by the forum?

I suggest you try the following steps:

supprime the downloaded opencv2.10;
sudo apt-get install libcv-dev libcvaux-dev libhighgui-dev libopencv-dev
./build.sh the ORB-slam

thank u @joyousrabbit . I have managed to solve the problem with opencv by your meathod . However when running ORB-SLAM2 ,new problems come again.

/usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 3, 0, 6, 3>&; Rhs = const Eigen::Matrix<double, 3, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/System.cc:426:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:221:84: required from ‘Derived& Eigen::MatrixBase::operator-=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256>; Derived = Eigen::Matrix<double, 6, 1>]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 3, 0, 6, 3>&; Rhs = const Eigen::Matrix<double, 3, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 3, 0, 6, 3>&; Rhs = Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/Tracking.cc:1601:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 3, 0, 6, 3>&; Rhs = Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/System.cc:426:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 3, 0, 6, 3>&; Rhs = Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o] Error 1 /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:176:7: required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:119:7: required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> >’ /usr/include/eigen3/Eigen/src/Core/Dot.h:47:121: required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase&, const Eigen::MatrixBase&) [with T = Eigen::Matrix<double, 2, 1>; U = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; bool NeedToTranspose = false; Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar = double]’ /usr/include/eigen3/Eigen/src/Core/Dot.h:86:71: required from ‘typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType Eigen::MatrixBase::dot(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; Derived = Eigen::Matrix<double, 2, 1>; typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType = double]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_edge.h:60:47: required from ‘double g2o::BaseEdge<D, E>::chi2() const [with int D = 2; E = Eigen::Matrix<double, 2, 1>]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<2, 1>::’ vs ‘Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:176:7: required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:119:7: required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> >’ /usr/include/eigen3/Eigen/src/Core/Dot.h:47:121: required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase&, const Eigen::MatrixBase&) [with T = Eigen::Matrix<double, 2, 1>; U = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; bool NeedToTranspose = false; Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar = double]’ /usr/include/eigen3/Eigen/src/Core/Dot.h:86:71: required from ‘typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType Eigen::MatrixBase::dot(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; Derived = Eigen::Matrix<double, 2, 1>; typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType = double]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_edge.h:60:47: required from ‘double g2o::BaseEdge<D, E>::chi2() const [with int D = 2; E = Eigen::Matrix<double, 2, 1>]’ /home/sakura/ORB_SLAM2/src/System.cc:426:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<2, 1>::’ vs ‘Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:176:7: required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:119:7: required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> >’ /usr/include/eigen3/Eigen/src/Core/Dot.h:47:121: required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase&, const Eigen::MatrixBase&) [with T = Eigen::Matrix<double, 2, 1>; U = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; bool NeedToTranspose = false; Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar = double]’ /usr/include/eigen3/Eigen/src/Core/Dot.h:86:71: required from ‘typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType Eigen::MatrixBase::dot(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; Derived = Eigen::Matrix<double, 2, 1>; typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType = double]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_edge.h:60:47: required from ‘double g2o::BaseEdge<D, E>::chi2() const [with int D = 2; E = Eigen::Matrix<double, 2, 1>]’ /home/sakura/ORB_SLAM2/src/Tracking.cc:1601:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<2, 1>::’ vs ‘Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:221:84: required from ‘Derived& Eigen::MatrixBase::operator-=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256>; Derived = Eigen::Matrix<double, 6, 1>]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = const Eigen::Matrix<double, 2, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:221:84: required from ‘Derived& Eigen::MatrixBase::operator-=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256>; Derived = Eigen::Matrix<double, 6, 1>]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = const Eigen::Matrix<double, 2, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/System.cc:426:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:221:84: required from ‘Derived& Eigen::MatrixBase::operator-=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256>; Derived = Eigen::Matrix<double, 6, 1>]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = const Eigen::Matrix<double, 2, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/Tracking.cc:1601:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/System.cc:426:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/Tracking.cc:1601:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1 make[1]: * [CMakeFiles/ORB_SLAM2.dir/all] Error 2 make: *\ [all] Error 2 sakura@ubuntu:~/ORB_SLAM2$

make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1 make[1]: * [CMakeFiles/ORB_SLAM2.dir/all] Error 2 make: *\ [all] Error 2 sakura@ubuntu:~/ORB_SLAM2$

I'm glad that it helps. For the new error, you should be very close because you already got the .o files. So I guess that it's a link problem.

Try do it again, take care of all the parameters behind cmake and make.

i have tried to do it again ,but errors were still there. i wonder if there is something wrong with eigen,bacause the report showed that the matrix is not matched. However i don't konw how to change it

@joyousrabbit @raulmur

de<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traits<Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<double, const Eigen::Matrix<double, 2, 2> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<double, const Eigen::Matrix<double, 2, 2> > >’ /usr/include/eigen3/Eigen/src/Core/CwiseUnaryOp.h:105:7: required from ‘class Eigen::CwiseUnaryOpImplEigen::internal::scalar_multiple_op<double, const Eigen::Matrix<double, 2, 2>, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/CwiseUnaryOp.h:72:7: required from ‘class Eigen::CwiseUnaryOpEigen::internal::scalar_multiple_op<double, const Eigen::Matrix<double, 2, 2> >’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_edge.h:98:41: required from ‘g2o::BaseEdge<D, E>::InformationType g2o::BaseEdge<D, E>::robustInformation(const Vector3d&) [with int D = 2; E = Eigen::Matrix<double, 2, 1>; g2o::BaseEdge<D, E>::InformationType = Eigen::Matrix<double, 2, 2>; Eigen::Vector3d = Eigen::Matrix<double, 3, 1>]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:60:66: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<2, 2>::’ vs ‘Eigen::internal::traits<Eigen::Matrix<double, 2, 2> >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBase<Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> >’ /usr/include/eigen3/Eigen/src/Core/products/CoeffBasedProduct.h:126:7: required from ‘class Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256>’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = const Eigen::Matrix<double, 2, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traits<Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBase<Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/products/CoeffBasedProduct.h:126:7: required from ‘class Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256>’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traits<Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 3>&, const Eigen::Matrix<double, 3, 1>&, 6> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 3>&, const Eigen::Matrix<double, 3, 1>&, 6> > >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:176:7: required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 3>&, const Eigen::Matrix<double, 3, 1>&, 6>, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:119:7: required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 3>&, const Eigen::Matrix<double, 3, 1>&, 6> >’ /usr/include/eigen3/Eigen/src/Core/Dot.h:47:121: required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase&, const Eigen::MatrixBase&) [with T = Eigen::Matrix<double, 3, 1>; U = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 3>&, const Eigen::Matrix<double, 3, 1>&, 6>; bool NeedToTranspose = false; Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar = double]’ /usr/include/eigen3/Eigen/src/Core/Dot.h:86:71: required from ‘typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType Eigen::MatrixBase::dot(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 3>&, const Eigen::Matrix<double, 3, 1>&, 6>; Derived = Eigen::Matrix<double, 3, 1>; typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType = double]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_edge.h:60:47: required from ‘double g2o::BaseEdge<D, E>::chi2() const [with int D = 3; E = Eigen::Matrix<double, 3, 1>]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<3, 1>::’ vs ‘Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 3>&, const Eigen::Matrix<double, 3, 1>&, 6> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:221:84: required from ‘Derived& Eigen::MatrixBase::operator-=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256>; Derived = Eigen::Matrix<double, 6, 1>]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 3, 0, 6, 3>&; Rhs = const Eigen::Matrix<double, 3, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, const Eigen::Matrix<double, 3, 1>&, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 3, 0, 6, 3>&; Rhs = Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 3; E = Eigen::Matrix<double, 3, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 3, 0, 6, 3>&, Eigen::Map<Eigen::Matrix<double, 3, 6, 0, 3, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:176:7: required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:119:7: required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> >’ /usr/include/eigen3/Eigen/src/Core/Dot.h:47:121: required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase&, const Eigen::MatrixBase&) [with T = Eigen::Matrix<double, 2, 1>; U = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; bool NeedToTranspose = false; Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar = double]’ /usr/include/eigen3/Eigen/src/Core/Dot.h:86:71: required from ‘typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType Eigen::MatrixBase::dot(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; Derived = Eigen::Matrix<double, 2, 1>; typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType = double]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_edge.h:60:47: required from ‘double g2o::BaseEdge<D, E>::chi2() const [with int D = 2; E = Eigen::Matrix<double, 2, 1>]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<2, 1>::’ vs ‘Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:221:84: required from ‘Derived& Eigen::MatrixBase::operator-=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256>; Derived = Eigen::Matrix<double, 6, 1>]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = const Eigen::Matrix<double, 2, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LoopClosing.cc:770:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1 make[1]: * [CMakeFiles/ORB_SLAM2.dir/all] Error 2 make: * [all] Error 2 sakura@ubuntu:~/ORB_SLAM2$

Which commands did you use? In which path? Could you show me the history like sakura@ubuntu:~/ORB_SLAM2$XXX XXXXXX which you typed?

@joyousrabbit i used the following commands:

sakura@ubuntu:~ORB_SLAM2 $ chmod +x build.sh sakura@ubuntu:~ORB_SLAM2 $ ./build.sh

@sakurazhu So was the executalble in folder example/mono_tum/ generated? If yes, it's ok, just run it. if no, I guess you have to reinstall eigen3.

@joyousrabbit i tried to reinstall eigen3.0 but the error last . And i did not find the executalble in folder example/mono_tum/ files.

/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:119:7: required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> >’ /usr/include/eigen3/Eigen/src/Core/Dot.h:47:121: required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase&, const Eigen::MatrixBase&) [with T = Eigen::Matrix<double, 2, 1>; U = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; bool NeedToTranspose = false; Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar = double]’ /usr/include/eigen3/Eigen/src/Core/Dot.h:86:71: required from ‘typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType Eigen::MatrixBase::dot(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6>; Derived = Eigen::Matrix<double, 2, 1>; typename Eigen::internal::scalar_product_traits<typename Eigen::internal::traits::Scalar, typename Eigen::internal::traits::Scalar>::ReturnType = double]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_edge.h:60:47: required from ‘double g2o::BaseEdge<D, E>::chi2() const [with int D = 2; E = Eigen::Matrix<double, 2, 1>]’ /home/sakura/ORB_SLAM2/src/LocalMapping.cc:762:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<2, 1>::’ vs ‘Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 2, 1>, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 2, 2>&, const Eigen::Matrix<double, 2, 1>&, 6> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:221:84: required from ‘Derived& Eigen::MatrixBase::operator-=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256>; Derived = Eigen::Matrix<double, 6, 1>]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:95:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator-=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = const Eigen::Matrix<double, 2, 1>&; int NestingFlags = 6; ExpressionType = Eigen::Matrix<double, 6, 1>; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:62:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LocalMapping.cc:762:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 1>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double, Eigen::Matrix<double, 6, 1>, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, const Eigen::Matrix<double, 2, 1>&, 256> > >::’ [-Wenum-compare] /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:61:34: required from ‘class Eigen::MatrixBaseEigen::SelfCwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/LocalMapping.cc:762:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o] Error 1 make[1]: * [CMakeFiles/ORB_SLAM2.dir/all] Error 2 make: * [all] Error 2 sakura@ubuntu:~/ORB_SLAM2$

@sakurazhu I think it's a g++ bug. Could you show me your g++ --version, gcc --version, and your system version?

@joyousrabbit yes the gcc version is 4.9.2 (Ubuntu 4.9.2-0ubuntu1~12.04) . Memory 3.9G Process intel core i5 -2430 CPU 2.5hz*4 OS type 32bit Disk 20G

sakura@ubuntu:~$ g++ -v Using built-in specs. COLLECT_GCC=g++ COLLECT_LTO_WRAPPER=/usr/lib/gcc/i686-linux-gnu/4.9/lto-wrapper Target: i686-linux-gnu Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.9.2-0ubuntu1~12.04' --with-bugurl=file:///usr/share/doc/gcc-4.9/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.9 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.9 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.9-i386/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.9-i386 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.9-i386 --with-arch-directory=i386 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-targets=all --enable-multiarch --disable-werror --with-arch-32=i686 --with-multilib-list=m32,m64 --enable-multilib --with-tune=generic --enable-checking=release --build=i686-linux-gnu --host=i686-linux-gnu --target=i686-linux-gnu Thread model: posix gcc version 4.9.2 (Ubuntu 4.9.2-0ubuntu1~12.04)

@sakurazhu OK, I konw. Please use the command ' ./build.sh > build.txt ' and send the generated build.txt to my email fujunde@gmail.com . We will see what happened.

@sakurazhu According to your build information, your Eigen3 version is 3.0.5, at least version 3.1.0 is required.

i have tried to use eigen3.2.8, but it did not work,the same problems appeared again. @joyousrabbit Anyway,thank you very much for your unselfish help . The problems were so stubborn!

fCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >’ /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h:58:63: required from ‘class Eigen::SelfCwiseBinaryOpEigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> >’ /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:235:77: required from ‘Derived& Eigen::MatrixBase::operator+=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256>; Derived = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >]’ /usr/include/eigen3/Eigen/src/Core/NoAlias.h:91:37: required from ‘ExpressionType& Eigen::NoAlias<ExpressionType, StorageBase>::operator+=(const Eigen::CoeffBasedProduct<Lhs, Rhs, NestingFlags>&) [with Lhs = const Eigen::Matrix<double, 6, 2, 0, 6, 2>&; Rhs = Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >; int NestingFlags = 6; ExpressionType = Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >; StorageBase = Eigen::MatrixBase]’ /home/sakura/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_unary_edge.hpp:63:27: required from ‘void g2o::BaseUnaryEdge<D, E, VertexXi>::constructQuadraticForm() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexXi = g2o::VertexSE3Expmap]’ /home/sakura/ORB_SLAM2/src/System.cc:426:1: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:172:59: warning: enumeral mismatch in conditional expression: ‘Eigen::internal::size_at_compile_time<6, 6>::’ vs ‘Eigen::internal::traitsEigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, Eigen::Map<Eigen::Matrix<double, 6, 6>, 1, Eigen::Stride<0, 0> >, Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 6, 2, 0, 6, 2>&, Eigen::Map<Eigen::Matrix<double, 2, 6, 0, 2, 6>, 1, Eigen::Stride<0, 0> >, 256> > >::’ [-Wenum-compare] make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1 make[2]: * [CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1 make[1]: * [CMakeFiles/ORB_SLAM2.dir/all] Error 2 make: * [all] Error 2

@sakurazhu You're welcome. Could you show me the new build.txt as generated?

ok .

2016-04-22

myworldpig

发件人：joyousrabbit notifications@github.com 发送时间：2016-04-22 21:06 主题：Re: [raulmur/ORB_SLAM2] when using ./build.sh to ORB_SLAM2 ,there occurs this problem (#68) 收件人："raulmur/ORB_SLAM2"ORB_SLAM2@noreply.github.com 抄送："zhuying"myworldpig@163.com,"Mention"mention@noreply.github.com

@sakurazhu You're welcome. Could you show me the new build.txt as generated? — You are receiving this because you were mentioned. Reply to this email directly or view it on GitHub

I have the same issue

[ 42%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o In file included from /usr/include/eigen3/Eigen/Core:297:0, from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30, from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41, from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30, from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/a/ORB_SLAM2/include/LoopClosing.h:34, from /home/a/ORB_SLAM2/include/Optimizer.h:27, from /home/a/ORB_SLAM2/src/Optimizer.cc:21: /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_assumealiasing::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_assumealiasing::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/a/ORB_SLAM2/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:68:18: required from ‘void g2o::LinearSolverEigen::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>; g2o::LinearSolverEigen::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’ /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:195:9: required from ‘void g2o::LinearSolverEigen::computeSymbolicDecomposition(const g2o::SparseBlockMatrix&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’ /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/solvers/linear_solvereigen.h:100:37: required from ‘bool g2o::LinearSolverEigen::solve(const g2o::SparseBlockMatrix&, double, double_) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’ /home/a/ORB_SLAM2/src/Optimizer.cc:1244:1: 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 ^ CMakeFiles/ORB_SLAM2.dir/build.make:350: recipe for target 'CMakeFiles/ORBSLAM2.dir/src/Optimizer.cc.o' failed make[2]: ** [CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failed make[1]: * [CMakeFiles/ORB_SLAM2.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: * [all] Error 2 a@ubuntu:~/ORB_SLAM2/build$

my eigen version : libeigen3-dev/xenial,xenial,xenial,xenial,now 3.3~beta1-2 all [installed] lightweight C++ template library for linear algebra

@Matrixio

Seems a bug. Could you try this fix: https://github.com/ethz-asl/ethzasl_msf/pull/111/files , as showing, replace all double_t with double.

yeh ,i can not find the msf_state_inl.h and msf_state.h files either.

2016-05-20

myworldpig

发件人：liuyangyl notifications@github.com 发送时间：2016-05-16 23:38 主题：Re: [raulmur/ORB_SLAM2] when using ./build.sh to ORB_SLAM2 ,there occurs this problem (#68) 收件人："raulmur/ORB_SLAM2"ORB_SLAM2@noreply.github.com 抄送："zhuying"myworldpig@163.com,"Mention"mention@noreply.github.com

I have met the same problem with @Matrixio , and I want to try the solution of @joyousrabbit , but I cannot find the files msf_state_inl.h and msf_state.h . How could I find them ? Or maybe I did not have them? — You are receiving this because you were mentioned. Reply to this email directly or view it on GitHub

To correct it change here SparseMatrix::Index to int. It's a dirty fix, bit it works.

I solved the problem. change "make -j" to "make -j1", my ubuntu run on a virtual machine.

best regards Matrix

At 2016-05-20 11:05:50, "zhuying" notifications@github.com wrote: yeh ,i can not find the msf_state_inl.h and msf_state.h files either.

2016-05-20

myworldpig

— You are receiving this because you were mentioned. Reply to this email directly or view it on GitHub

Thank you very much for the information. I will try that.

发自我的网易邮箱手机智能版

在 2016-05-25 13:32:06，Matrixio notifications@github.com 写道：

I solved the problem. change "make -j" to "make -j1", my ubuntu run on a virtual machine.

best regards Matrix

At 2016-05-20 11:05:50, "zhuying" notifications@github.com wrote: yeh ,i can not find the msf_state_inl.h and msf_state.h files either.

2016-05-20

myworldpig

— You are receiving this because you were mentioned. Reply to this email directly or view it on GitHub

— You are receiving this because you commented. Reply to this email directly or view it on GitHub

finally i have changed my ubuntu version to 14.04 exbot and i use sudo apt-get install libeigen3-dev to install eigen3 ,then there is no problem of eigen3 . i succeeded in doing ~ORB_SLAM2 ./build.sh but the finally step still have some problems. Anyway , thank you very much for all help . @joyousrabbit @poine @Matrixio

Hello everyone,

I would like to run ORB-SLAM2 on Linux OS (Ubuntu 16.06 Xenial) with CPU intel Corei7 , 2.2 GHZ and I have tried to install the prerequisities, which were written in the README.md file on github.com. But the problem is I have faced several errors during building ORB_SLAM2 and compiling ORB_SLAM2 Examples for mono_tum.cc and mono_kitti.cc. It would be so kind if you can help me in this way because the type of error is somehow the same as above but the solution did not work for it. errorbuild1_orbslam2 errorbuild2_orbslam2 errorcompileexamples_monotum cc_orbslam2 ubuntu_gcc_version folder overview

Have you tried the fix in my comment ?

@amarant Thanks for your response. Yes, I have tried the fix by replacing {SparseMatrix::Index} to {int}. But the same error showed up. oie_nuti5sopk66n oie_ax90fvuy3ds2

Matrix solved the problem. change "make -j" to "make -j1", his ubuntu run on a virtual machine.

Best regards,

刘洋 Liu Yang

中国科学院国家空间科学中心北京市海淀区中关村南二条一号 National Space Science Center, Chinese Academy of Sciences No.1, Nan'ertiao Street, Zhongguancun, Haidian District, Beijing, China, 100190 Mob: +86-156-0060-2467 Email: liuyangyangyl@163.com

Thanks @liuyangyl. I have tried "make -j1" but the same error showed up. It have not built more than 3%. It think it would be a better idea to change my Ubuntu version from 16.04 to 14.04 like @sakurazhu. der

maybe there is something wrong with your Pangolin . when i met the problem i delected all the code about Openni* in Pangolin--src --CMakeLists . And then used make -j4 to make it successfully. Hope it works for you.

2016-06-06

myworldpig

发件人：Ramtin KR notifications@github.com 发送时间：2016-06-06 02:03 主题：Re: [raulmur/ORB_SLAM2] when using ./build.sh to ORB_SLAM2 ,there occurs this problem (#68) 收件人："raulmur/ORB_SLAM2"ORB_SLAM2@noreply.github.com 抄送："zhuying"myworldpig@163.com,"Mention"mention@noreply.github.com

Thanks @liuyangyl. I have tried "make -j1" but the same error showed up.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

Thanks for your hint @sakurazhu . I have rebuilt my Pangolin successfully with make -j4 as you mentioned but unfortunately in rebuilding the ORB_SLAM2 I faced the same error. Today I am changing the version of my Ubuntu to 14.04 and try to rebuild ORB there. rebuild pangolin 11 rebuild pangolin 22 rebuild orb_slam2_1 rebuild orb_slam2_2

Hi friends,

Today I changed the version of my Ubuntu to 14.04.04 LTS (Trusty Tahr) and I have built ORB-SLAM2 100 % successfully but at the end I got an error (CV_LOAD_IMAGE_UNCHANGED) of .CC Files of Examples { mono_tum.cc, mono_kitti.cc, rgbd_tum.cc, stereo_kitti.cc }. While compiling these file like mono_tum.cc, I also faced several errors related to CV_LOAD_IMAGE_UNCHANGED, Monotonic_clock, t1 & t2. Building Pangolin & Eigen were successful but after ORB_SLAM2 was build I found the built files locked, does anyone know how can I remove those errors and how to unlock the ORB "build" and "lib" Files?

Thanks a lot

u14_1 u14_2

I solved the error of CV_LOAD_IMAGE_UNCHANGED by adding #include highgui.h. My only problem at the moment is "std::chrono::monotonic_clock", although I have the header #include , it does not work. I listed my headers in a screen shot as below. xx 33 new xx 44 new

Thank you @amarant ,I modified "SparseMatrix::Index" to "int",now it works.

I'm using Ubuntu 16.04 and met the same problem with @ramtinkr . The following trick works for me. http://stackoverflow.com/questions/38647114/orb-slam-installation-on-ubuntu-xenial-16-04

This works for me too. @Matrixio Thank you! But I am still wandering are there any other problems while using ubuntu16.04 with ORB_SLAM2. For instance the ROS version has to be Kinetic instead of indigo. Do you know if ROS kinetic works for ORB_SLAM2?

@MartinXm how did you install the ubuntu 14 package in ubuntu 16?

The build was stopped at the same place, I tinkered for a while and installed libeigen2-dev and libeigen3-dev tru apt-get on ubuntu 16 xenial with roskinetic, and i believe i have a succesful build.

ros@daredevil:~/build/ORB_SLAM2$ ./build.sh Configuring and building Thirdparty/DBoW2 ... mkdir: cannot create directory ‘build’: File exists -- Configuring done -- Generating done -- Build files have been written to: /home/ros/build/ORB_SLAM2/Thirdparty/DBoW2/build [100%] Built target DBoW2 Configuring and building Thirdparty/g2o ... mkdir: cannot create directory ‘build’: File exists -- BUILD TYPE:Release -- Compiling on Unix -- Configuring done -- Generating done -- Build files have been written to: /home/ros/build/ORB_SLAM2/Thirdparty/g2o/build [100%] Built target g2o Uncompress vocabulary ... Configuring and building ORB_SLAM2 ... mkdir: cannot create directory ‘build’: File exists Build type: Release -- Using flag -std=c++11. -- Configuring done -- Generating done -- Build files have been written to: /home/ros/build/ORB_SLAM2/build [ 62%] Built target ORB_SLAM2 [ 68%] Built target mono_euroc [ 75%] Built target mono_tum [ 81%] Built target stereo_kitti [ 87%] Built target mono_kitti [ 93%] Built target stereo_euroc [100%] Built target rgbd_tum

raulmur / ORB_SLAM2

when using ./build.sh to ORB_SLAM2 ,there occurs this problem #68

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