baildagq
commented
3 years ago Hi, I also occur this error when compile. After change the include/LoopClosing.h line 49/50, the compile progress could be finished
from
typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;to
typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;env:
ubuntu 20.04
gcc (Ubuntu 9.3.0-17ubuntu1~20.04) 9.3.0
ORB_SLAM2 master version 2021/04/07Check whether this will work.
domenigoni@domenigoni-HP-ZBook-17-G3:~/ORB_SLAM3$ ./build.sh Configuring and building Thirdparty/DBoW2 ... mkdir: impossible de créer le répertoire «build»: Le fichier existe -- Configuring done -- Generating done -- Build files have been written to: /home/domenigoni/ORB_SLAM3/Thirdparty/DBoW2/build [100%] Built target DBoW2 Configuring and building Thirdparty/g2o ... mkdir: impossible de créer le répertoire «build»: Le fichier existe -- BUILD TYPE:Release -- Compiling on Unix -- Configuring done -- Generating done -- Build files have been written to: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/build [100%] Built target g2o Uncompress vocabulary ... Configuring and building ORB_SLAM3 ... mkdir: impossible de créer le répertoire «build»: Le fichier existe Build type: Release -- Using flag -std=c++11. OPENCV VERSION: 4.2.0 -- BUILD TYPE:Release -- Compiling on Unix -- Configuring done -- Generating done -- Build files have been written to: /home/domenigoni/ORB_SLAM3/build [ 37%] Built target g2o [ 38%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o [ 39%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:4338:10: error: #endif without #if 4338 | #endif | ^~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:5018:5: warning: "/*" within comment [-Wcomment] 5018 | /*std::cout << " Construction time: " << t_const << std::endl; | In file included from /home/domenigoni/ORB_SLAM3/include/Atlas.h:27, from /home/domenigoni/ORB_SLAM3/include/LocalMapping.h:24, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:24, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector<float>)’: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder] 105 | const float precision; | ^~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector<int> ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder] 95 | std::vector<int> mvLappingArea; | ^~~~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/include/Atlas.h:27, from /home/domenigoni/ORB_SLAM3/include/LocalMapping.h:24, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:24, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder] 53 | KannalaBrandt8(const std::vector<float> _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) { | ^~~~~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/include/Atlas.h:27, from /home/domenigoni/ORB_SLAM3/include/LocalMapping.h:24, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:24, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector<float>, float)’: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder] 105 | const float precision; | ^~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector<int> ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder] 95 | std::vector<int> mvLappingArea; | ^~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder] 59 | KannalaBrandt8(const std::vector<float> _vParameters, const float _precision) : GeometricCamera(_vParameters), | ^~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8*)’: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder] 105 | const float precision; | ^~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector<int> ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder] 95 | std::vector<int> mvLappingArea; | ^~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder] 65 | KannalaBrandt8(KannalaBrandt8* pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) { | ^~~~~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/include/Atlas.h:27, from /home/domenigoni/ORB_SLAM3/include/LocalMapping.h:24, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:24, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector<float>)’: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder] 105 | const float precision; | ^~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector<int> ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder] 95 | std::vector<int> mvLappingArea; | ^~~~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/include/Atlas.h:27, from /home/domenigoni/ORB_SLAM3/include/LocalMapping.h:24, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:24, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder] 53 | KannalaBrandt8(const std::vector<float> _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) { | ^~~~~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/include/Atlas.h:27, from /home/domenigoni/ORB_SLAM3/include/LocalMapping.h:24, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:24, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector<float>, float)’: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder] 105 | const float precision; | ^~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector<int> ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder] 95 | std::vector<int> mvLappingArea; | ^~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder] 59 | KannalaBrandt8(const std::vector<float> _vParameters, const float _precision) : GeometricCamera(_vParameters), | ^~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8*)’: /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder] 105 | const float precision; | ^~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector<int> ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder] 95 | std::vector<int> mvLappingArea; | ^~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder] 65 | KannalaBrandt8(KannalaBrandt8* pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) { | ^~~~~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: At global scope: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ^~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | :Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ^~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | :Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ^~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: At global scope: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ^~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ^~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ^~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<3, Eigen::Matrix<double, 3, 1> >’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:40:35: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | f Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<6, g2o::SE3Quat>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:59:33: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | f Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<3, Eigen::Matrix<double, 3, 1> >’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_sba.h:40:35: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:83:24: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<6, g2o::SE3Quat>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:59:33: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<6, g2o::SE3Quat, g2o::VertexSE3Expmap, g2o::VertexSE3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:83:24: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:114:35: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:114:35: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:146:41: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:146:41: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<7, g2o::Sim3>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:48:35: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | f Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:99:27: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<7, g2o::Sim3>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:48:35: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:99:27: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSim3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:130:36: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSim3Expmap>’: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:130:36: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:26, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:26: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/core/base_multi_edge.h:69:54: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 69 | typedef Eigen::Map<MatrixXd, MatrixXd::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ^~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<6, ORB_SLAM3::ImuCamPose>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:127:32: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | f Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<4, ORB_SLAM3::ImuCamPose>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:152:36: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | f Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<2, ORB_SLAM3::GDirection>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:271:32: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | f Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<1, double>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:293:33: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | f Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:38: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/core/base_multi_edge.h:69:54: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 69 | typedef Eigen::Map<MatrixXd, MatrixXd::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ^~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<1, ORB_SLAM3::InvDepthPoint>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:318:36: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | f Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, ORB_SLAM3::VertexPose>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:339:30: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<6, ORB_SLAM3::ImuCamPose>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:127:32: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<4, ORB_SLAM3::ImuCamPose>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:152:36: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<2, ORB_SLAM3::GDirection>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:271:32: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<1, double>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:293:33: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<1, ORB_SLAM3::InvDepthPoint>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:318:36: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, ORB_SLAM3::VertexPose>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:339:30: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSBAPointXYZ, ORB_SLAM3::VertexPose>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:422:32: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSBAPointXYZ, ORB_SLAM3::VertexPose>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:422:32: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, ORB_SLAM3::VertexGyroBias, ORB_SLAM3::VertexGyroBias>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:632:32: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, ORB_SLAM3::VertexGyroBias, ORB_SLAM3::VertexGyroBias>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:632:32: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, ORB_SLAM3::VertexAccBias, ORB_SLAM3::VertexAccBias>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:668:31: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, ORB_SLAM3::VertexAccBias, ORB_SLAM3::VertexAccBias>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:668:31: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<6, Eigen::Matrix<double, 6, 1>, ORB_SLAM3::VertexPose4DoF, ORB_SLAM3::VertexPose4DoF>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:833:30: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | n::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | n::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<6, Eigen::Matrix<double, 6, 1>, ORB_SLAM3::VertexPose4DoF, ORB_SLAM3::VertexPose4DoF>’: /home/domenigoni/ORB_SLAM3/include/G2oTypes.h:833:30: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/include/LoopClosing.h: In constructor ‘ORB_SLAM3::LoopClosing::LoopClosing(ORB_SLAM3::Atlas*, ORB_SLAM3::KeyFrameDatabase*, ORB_SLAM3::ORBVocabulary*, bool)’: /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:197:10: warning: ‘ORB_SLAM3::LoopClosing::mnFullBAIdx’ will be initialized after [-Wreorder] 197 | bool mnFullBAIdx; | ^~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:161:9: warning: ‘int ORB_SLAM3::LoopClosing::mnLoopNumCoincidences’ [-Wreorder] 161 | int mnLoopNumCoincidences; | ^~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:35:1: warning: when initialized here [-Wreorder] 35 | LoopClosing::LoopClosing(Atlas *pAtlas, KeyFrameDatabase *pDB, ORBVocabulary *pVoc, const bool bFixScale): | ^~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:170:9: warning: ‘ORB_SLAM3::LoopClosing::mnMergeNumCoincidences’ will be initialized after [-Wreorder] 170 | int mnMergeNumCoincidences; | ^~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:160:10: warning: ‘bool ORB_SLAM3::LoopClosing::mbLoopDetected’ [-Wreorder] 160 | bool mbLoopDetected; | ^~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:35:1: warning: when initialized here [-Wreorder] 35 | LoopClosing::LoopClosing(Atlas *pAtlas, KeyFrameDatabase *pDB, ORBVocabulary *pVoc, const bool bFixScale): | ^~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:169:10: warning: ‘ORB_SLAM3::LoopClosing::mbMergeDetected’ will be initialized after [-Wreorder] 169 | bool mbMergeDetected; | ^~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:162:9: warning: ‘int ORB_SLAM3::LoopClosing::mnLoopNumNotFound’ [-Wreorder] 162 | int mnLoopNumNotFound; | ^~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:35:1: warning: when initialized here [-Wreorder] 35 | LoopClosing::LoopClosing(Atlas *pAtlas, KeyFrameDatabase *pDB, ORBVocabulary *pVoc, const bool bFixScale): | ^~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::Run()’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:89:35: warning: variable ‘gSw1m’ set but not used [-Wunused-but-set-variable] 89 | g2o::Sim3 gSw1m = mg2oMergeSlw; | ^~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘bool ORB_SLAM3::LoopClosing::NewDetectCommonRegions()’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:300:10: warning: variable ‘bCheckSpatial’ set but not used [-Wunused-but-set-variable] 300 | bool bCheckSpatial = false; | ^~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:441:29: warning: unused variable ‘CurrentBowVec’ [-Wunused-variable] 441 | const DBoW2::BowVector &CurrentBowVec = mpCurrentKF->mBowVec; | ^~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘bool ORB_SLAM3::LoopClosing::DetectCommonRegionsFromBoW(std::vector<ORB_SLAM3::KeyFrame*>&, ORB_SLAM3::KeyFrame*&, ORB_SLAM3::KeyFrame*&, g2o::Sim3&, int&, std::vector<ORB_SLAM3::MapPoint*>&, std::vector<ORB_SLAM3::MapPoint*>&)’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:619:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::KeyFrame*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 619 | for(int j=0; j<vpCovKFi.size(); ++j) | ~^~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:634:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::KeyFrame*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 634 | for(int j=0; j<vpCovKFi.size(); ++j) | ~^~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:644:28: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::MapPoint*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 644 | for(int k=0; k < vvpMatchedMPs[j].size(); ++k) | ~~^~~~~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:806:51: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::KeyFrame*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 806 | while(nNumKFs < 3 && j<vpCurrentCovKFs.size()) | ~^~~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:738:26: warning: variable ‘bFixedScale’ set but not used [-Wunused-but-set-variable] 738 | bool bFixedScale = mbFixScale; | ^~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:695:21: warning: unused variable ‘nInitialCov’ [-Wunused-variable] 695 | int nInitialCov = vpCovKFi.size(); | ^~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:618:13: warning: variable ‘nIndexMostBoWMatchesKF’ set but not used [-Wunused-but-set-variable] 618 | int nIndexMostBoWMatchesKF=0; | ^~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:888:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<int>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 888 | for(int i=0; i<vnStage.size(); ++i) | ~^~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:887:13: warning: variable ‘maxMatched’ set but not used [-Wunused-but-set-variable] 887 | int maxMatched; | ^~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:580:9: warning: unused variable ‘nNumGuidedMatching’ [-Wunused-variable] 580 | int nNumGuidedMatching = 0; | ^~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘int ORB_SLAM3::LoopClosing::FindMatchesByProjection(ORB_SLAM3::KeyFrame*, ORB_SLAM3::KeyFrame*, g2o::Sim3&, std::set<ORB_SLAM3::MapPoint*>&, std::vector<ORB_SLAM3::MapPoint*>&, std::vector<ORB_SLAM3::MapPoint*>&)’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:973:17: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::KeyFrame*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 973 | while(j < vpKFs.size() && nInserted < nNumCovisibles) | ~~^~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::CorrectLoop()’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:1030:20: warning: use of an operand of type ‘bool’ in ‘operator++’ is deprecated [-Wdeprecated] 1030 | mnFullBAIdx++; | ^~ In file included from /usr/include/c++/9/map:61, from /home/domenigoni/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/BowVector.h:14, from /home/domenigoni/ORB_SLAM3/include/Frame.h:27, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:24, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:23, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:23, from /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:20: /usr/include/c++/9/bits/stl_map.h: In instantiation of ‘class std::map<ORB_SLAM3::KeyFrame*, g2o::Sim3, std::less<ORB_SLAM3::KeyFrame*>, Eigen::aligned_allocator<std::pair<const ORB_SLAM3::KeyFrame*, g2o::Sim3> > >’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:1056:21: required from here /usr/include/c++/9/bits/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator 122 | static_assert(is_same<typename _Alloc::value_type, value_type>::value, | ^~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::MergeLocal()’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:1276:20: warning: use of an operand of type ‘bool’ in ‘operator++’ is deprecated [-Wdeprecated] 1276 | mnFullBAIdx++; | ^~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:1348:35: warning: comparison of integer expressions of different signedness: ‘std::set<ORB_SLAM3::KeyFrame*>::size_type’ {aka ‘long unsigned int’} and ‘int’ [-Wsign-compare] 1348 | while(spLocalWindowKFs.size() < numTemporalKFs && nNumTries < nMaxTries) | ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:1412:38: warning: comparison of integer expressions of different signedness: ‘std::set<ORB_SLAM3::KeyFrame*>::size_type’ {aka ‘long unsigned int’} and ‘int’ [-Wsign-compare] 1412 | while(spMergeConnectedKFs.size() < numTemporalKFs && nNumTries < nMaxTries) | ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, ORB_SLAM3::VertexSim3Expmap>’: /home/domenigoni/ORB_SLAM3/include/OptimizableTypes.h:175:41: required from here /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ In file included from /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35, from /home/domenigoni/ORB_SLAM3/include/LoopClosing.h:34, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:26, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /home/domenigoni/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations] 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; | ~~~~~~^~~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:363, from /home/domenigoni/ORB_SLAM3/include/ImuTypes.h:26, from /home/domenigoni/ORB_SLAM3/include/Frame.h:30, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:28, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80; | ^~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::printReprojectionError(std::set<ORB_SLAM3::KeyFrame*>&, ORB_SLAM3::KeyFrame*, std::string&)’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:1918:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::MapPoint*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 1918 | for(int j=0; j<vpMPs.size(); ++j) | ~^~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::MergeLocal2()’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:1977:20: warning: use of an operand of type ‘bool’ in ‘operator++’ is deprecated [-Wdeprecated] 1977 | mnFullBAIdx++; | ^~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:1955:9: warning: unused variable ‘numTemporalKFs’ [-Wunused-variable] 1955 | int numTemporalKFs = 11; //TODO (set by parameter): Temporal KFs in the local window if the map is inertial. | ^~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::SearchAndFuse(const KeyFrameAndPose&, std::vector<ORB_SLAM3::MapPoint*>&)’: /home/domenigoni/ORB_SLAM3/src/LoopClosing.cc:2305:13: warning: unused variable ‘numFused’ [-Wunused-variable] 2305 | int numFused = matcher.Fuse(pKFi,cvScw,vpMapPoints,4,vpReplacePoints); | ^~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::BundleAdjustment(const std::vector<ORB_SLAM3::KeyFrame*>&, const std::vector<ORB_SLAM3::MapPoint*>&, int, bool*, long unsigned int, bool)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:236:51: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<cv::KeyPoint>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 236 | if(rightIndex != -1 && rightIndex < pKF->mvKeysRight.size()){ | ~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::FullInertialBA(ORB_SLAM3::Map*, int, bool, long unsigned int, bool*, bool, float, float, Eigen::VectorXd*, bool*)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:721:55: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<cv::KeyPoint>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 721 | if(rightIndex != -1 && rightIndex < pKFi->mvKeysRight.size()){ | ~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::LocalBundleAdjustment(ORB_SLAM3::KeyFrame*, bool*, std::vector<ORB_SLAM3::KeyFrame*>&)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1261:27: warning: comparison of integer expressions of different signedness: ‘long unsigned int’ and ‘int’ [-Wsign-compare] 1261 | if(pKFi->mnId < lowerId) | ~~~~~~~~~~~^~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1266:32: warning: comparison of integer expressions of different signedness: ‘long unsigned int’ and ‘int’ [-Wsign-compare] 1266 | else if(pKFi->mnId < secondLowerId) | ~~~~~~~~~~~^~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1671:16: warning: unused variable ‘dist’ [-Wunused-variable] 1671 | double dist = cv::norm(trasl); | ^~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1375:9: warning: unused variable ‘nKFs’ [-Wunused-variable] 1375 | int nKFs = lLocalKeyFrames.size()+lFixedCameras.size(), nEdges = 0; | ^~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1641:10: warning: unused variable ‘bRedrawError’ [-Wunused-variable] 1641 | bool bRedrawError = false; | ^~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1642:10: warning: unused variable ‘bWriteStats’ [-Wunused-variable] 1642 | bool bWriteStats = false; | ^~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::LocalBundleAdjustment(ORB_SLAM3::KeyFrame*, bool*, ORB_SLAM3::Map*, int&)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1777:27: warning: comparison of integer expressions of different signedness: ‘long unsigned int’ and ‘int’ [-Wsign-compare] 1777 | if(pKFi->mnId < lowerId) | ~~~~~~~~~~~^~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1782:32: warning: comparison of integer expressions of different signedness: ‘long unsigned int’ and ‘int’ [-Wsign-compare] 1782 | else if(pKFi->mnId < secondLowerId) | ~~~~~~~~~~~^~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:1889:9: warning: unused variable ‘nKFs’ [-Wunused-variable] 1889 | int nKFs = lLocalKeyFrames.size()+lFixedCameras.size(), nEdges = 0; | ^~~~ In file included from /usr/include/c++/9/map:61, from /home/domenigoni/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/BowVector.h:14, from /home/domenigoni/ORB_SLAM3/include/KeyFrame.h:24, from /home/domenigoni/ORB_SLAM3/include/MapPoint.h:23, from /home/domenigoni/ORB_SLAM3/include/Map.h:23, from /home/domenigoni/ORB_SLAM3/include/Optimizer.h:23, from /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:20: /usr/include/c++/9/bits/stl_map.h: In instantiation of ‘class std::map<ORB_SLAM3::KeyFrame*, g2o::Sim3, std::less<ORB_SLAM3::KeyFrame*>, Eigen::aligned_allocator<std::pair<const ORB_SLAM3::KeyFrame*, g2o::Sim3> > >’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:2344:37: required from here /usr/include/c++/9/bits/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator 122 | static_assert(is_same<typename _Alloc::value_type, value_type>::value, | ^~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::OptimizeEssentialGraph(ORB_SLAM3::Map*, ORB_SLAM3::KeyFrame*, ORB_SLAM3::KeyFrame*, const KeyFrameAndPose&, const KeyFrameAndPose&, const std::map<ORB_SLAM3::KeyFrame*, std::set<ORB_SLAM3::KeyFrame*> >&, const bool&)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:2554:11: warning: unused variable ‘err0’ [-Wunused-variable] 2554 | float err0 = optimizer.activeRobustChi2(); | ^~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:2557:11: warning: unused variable ‘errEnd’ [-Wunused-variable] 2557 | float errEnd = optimizer.activeRobustChi2(); | ^~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::InertialOptimization(ORB_SLAM3::Map*, Eigen::Matrix3d&, double&, Eigen::Vector3d&, Eigen::Vector3d&, bool, Eigen::MatrixXd&, bool, bool, float, float)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:5308:22: warning: comparison of integer expressions of different signedness: ‘size_t’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare] 5308 | for(size_t i=0; i<N; i++) | ~^~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::InertialOptimization(ORB_SLAM3::Map*, Eigen::Vector3d&, Eigen::Vector3d&, float, float)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:5473:22: warning: comparison of integer expressions of different signedness: ‘size_t’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare] 5473 | for(size_t i=0; i<N; i++) | ~^~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::InertialOptimization(std::vector<ORB_SLAM3::KeyFrame*>, Eigen::Vector3d&, Eigen::Vector3d&, float, float)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:5634:22: warning: comparison of integer expressions of different signedness: ‘size_t’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare] 5634 | for(size_t i=0; i<N; i++) | ~^~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::LocalBundleAdjustment(ORB_SLAM3::KeyFrame*, std::vector<ORB_SLAM3::KeyFrame*>, std::vector<ORB_SLAM3::KeyFrame*>, bool*)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:6356:19: warning: unused variable ‘pMPi’ [-Wunused-variable] 6356 | MapPoint* pMPi = it->first; | ^~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:6541:33: warning: unused variable ‘kpUn’ [-Wunused-variable] 6541 | const cv::KeyPoint &kpUn = pKF->mvKeysUn[get<0>(mit->second)]; | ^~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:6643:58: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope 6643 | cv::Mat imLeft = cv::imread(strNameFile, CV_LOAD_IMAGE_UNCHANGED); | ^~~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:6649:31: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::MapPoint*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 6649 | for(int i=0; i<vpMonoMPsOpt.size(); ++i) | ~^~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:6669:32: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::MapPoint*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 6669 | for(int i=0; i<vpStereoMPsOpt.size(); ++i) | ~^~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:6689:32: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::MapPoint*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 6689 | for(int i=0; i<vpMonoMPsBad.size(); ++i) | ~^~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:6708:31: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ORB_SLAM3::MapPoint*>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 6708 | for(int i=0; i<vpStereoMPsBad.size(); ++i) | ~^~~~~~~~~~~~~~~~~~~~~~ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::MergeInertialBA(ORB_SLAM3::KeyFrame*, ORB_SLAM3::KeyFrame*, bool*, ORB_SLAM3::Map*, ORB_SLAM3::LoopClosing::KeyFrameAndPose&)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:6863:19: warning: suggest explicit braces to avoid ambiguous ‘else’ [-Wdangling-else] 6863 | if(!pMP->isBad()) | ^ /home/domenigoni/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static int ORB_SLAM3::Optimizer::PoseInertialOptimizationLastKeyFrame(ORB_SLAM3::Frame*, bool)’: /home/domenigoni/ORB_SLAM3/src/Optimizer.cc:7554:10: warning: unused variable ‘bOut’ [-Wunused-variable] 7554 | bool bOut = false; | ^~~~ make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:102 : CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o] Erreur 1 make[2]: *** Attente des tâches non terminées.... make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:232 : CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o] Erreur 1 make[1]: *** [CMakeFiles/Makefile2:390 : CMakeFiles/ORB_SLAM3.dir/all] Erreur 2 make: *** [Makefile:84 : all] Erreur 2