在Ubuntu 18.04编译ORB-SLAM2时,出现关于eigien的deprecated错误,如下:
In file included from /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37:0,
from /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/include/Converter.h:29,
from /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/src/Converter.cc:22:
/home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^~~~~~~~~~
In file included from /usr/local/include/eigen3/Eigen/Core:363:0,
from /usr/local/include/eigen3/Eigen/Dense:1,
from /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/include/Converter.h:26,
from /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/src/Converter.cc:22:
/usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
^~~~~~~~~~
In file included from /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:38:0,
from /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/include/Converter.h:29,
from /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/src/Converter.cc:22:
/home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
....
解决办法:
出现这个问题是因为安装的eigen版本太高,需要降低到3.2.1版本。
我原本装的是eigen-3.3.7,降低到3.3.2仍旧出现这个问题,因此建议降低到3.2.1版本(链接待审核通过后再附上)。
操作方法如下:
1. 卸载原本的eigen:
# sudo rm -rf /usr/local/include/eigen3
2. 下载eigen-3.2.1版本,并解压缩进入文件夹,执行如下命令:
# mkdir build && cd build
# sudo make install