LearnVIORB-RT或ORB-SLAM2编译报错

本文链接： https://blog.csdn.net/weixin_44401286/article/details/102319719

错误提示：

/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^

home/bruce/catkin_ws/src/LearnVIORB-RT/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:195:9:   required from ‘void g2o::LinearSolverEigen<MatrixType>::computeSymbolicDecomposition(const g2o::SparseBlockMatrix<MatrixType>&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’
/home/bruce/catkin_ws/src/LearnVIORB-RT/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:100:37:   required from ‘bool g2o::LinearSolverEigen<MatrixType>::solve(const g2o::SparseBlockMatrix<MatrixType>&, double*, double*) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’
/home/bruce/catkin_ws/src/LearnVIORB-RT/src/Optimizer.cc:4568:1:   required from here
/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
                                        ^
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:816:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
   EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
   ^
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:834:3: note: in expansion of macro ‘EIGEN_CHECK_BINARY_COMPATIBILIY’
   EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
   ^
CMakeFiles/ORB_SLAM2.dir/build.make:350: recipe for target 'CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

错因简析及解决办法：

这是由于Eigen的版本问题造成的，解决办法很简单，修改工程三方库目录下的如下文件即可解决：

找到并打开thirdparty/g2o/g2o/solvers/linear_solver_eigen.h

把typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
修改为typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;
既可解决问题。

LearnVIORB-RT或ORB-SLAM2编译报错

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