ORB_SLAM2 Ubuntu16.04编译错误

Ubuntu14.04一切正常，迁移到Ubuntu16.04后编译报错，提示：

/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: error: static assertion failed:YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
　　EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);

vip@Alienware-15-R2:~/work/ORB_SLAM2$ ./build.sh
Configuring and building Thirdparty/DBoW2 ...
mkdir: 无法创建目录"build": 文件已存在
-- Configuring done
-- Generating done
-- Build files have been written to: /home/vip/work/ORB_SLAM2/Thirdparty/DBoW2/build
[100%] Built target DBoW2
Configuring and building Thirdparty/g2o ...
mkdir: 无法创建目录"build": 文件已存在
-- BUILD TYPE:Release
-- Compiling on Unix
-- Configuring done
-- Generating done
-- Build files have been written to: /home/vip/work/ORB_SLAM2/Thirdparty/g2o/build
[100%] Built target g2o
Uncompress vocabulary ...
Configuring and building ORB_SLAM2 ...
mkdir: 无法创建目录"build": 文件已存在
Build type: Release
-- Using flag -std=c++11.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/vip/work/ORB_SLAM2/build
Scanning dependencies of target ORB_SLAM2
[  3%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o
In file included from /usr/include/eigen3/Eigen/Core:297:0,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/include/eigen3/Eigen/Eigen:1,
                 from /usr/local/include/pangolin/gl/gl.h:40,
                 from /usr/local/include/pangolin/pangolin.h:38,
                 from /home/vip/work/ORB_SLAM2/include/MapDrawer.h:27,
                 from /home/vip/work/ORB_SLAM2/include/Viewer.h:26,
                 from /home/vip/work/ORB_SLAM2/include/Tracking.h:28,
                 from /home/vip/work/ORB_SLAM2/include/LocalMapping.h:27,
                 from /home/vip/work/ORB_SLAM2/include/LoopClosing.h:25,
                 from /home/vip/work/ORB_SLAM2/include/Optimizer.h:31,
                 from /home/vip/work/ORB_SLAM2/src/Optimizer.cc:21:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int>]’:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int>; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type = void*]’
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32:   required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:367:17:   required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase<OtherDerived>&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]’
/home/vip/work/ORB_SLAM2/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:68:18:   required from ‘void g2o::LinearSolverEigen<MatrixType>::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen<MatrixType>::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>; g2o::LinearSolverEigen<MatrixType>::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen<MatrixType>::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’
/home/vip/work/ORB_SLAM2/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/vip/work/ORB_SLAM2/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/vip/work/ORB_SLAM2/src/Optimizer.cc:1244:1:   required from here
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
   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

error log

 

问题原因：Eigen3的bug

解决方法：打开Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h，将以下代码

1 template <typename MatrixType>
2 class LinearSolverEigen: public LinearSolver<MatrixType>
3 {
4   public:
5     typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
6     typedef Eigen::Triplet<double> Triplet;
7     typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;

改为

1 template <typename MatrixType>
2 class LinearSolverEigen: public LinearSolver<MatrixType>
3 {
4   public:
5     typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
6     typedef Eigen::Triplet<double> Triplet;
8     typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;
9     /**